Network Localization of Uniformly Connected Graph Using Orientation Estimation
Younghun John, Kwang‐Kyo Oh, Hyo‐Sung Ahn · 2018 IEEE Conference on Control Technology and Applications (CCTA) · 2018
This paper investigates the localization of an undirected network via orientation estimation when the orientations of the local reference frames of the agents are misaligned. The system is restricted from global measures, but can only obtain relative position and relative orientation angle information. We propose a strategy that shows exponential convergence of the estimated orientation angle to the actual orientation value with a common offset if the system is uniformly connected. Furthermore, using the estimated orientation value simultaneously, we also achieve the localization of the given system with respect to a common reference frame.