Localizability and distributed protocols for bearing-based network localization in arbitrary dimensions

• Shiyu Zhao ^[2] ; Daniel Zelazo ^[1]
  1. [1] Technion – Israel Institute of Technology

     Technion – Israel Institute of Technology

     Israel

     
  2. [2] University of California, Riverside, USA
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 69, 2016, págs. 334-341
• Idioma: inglés
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• Resumen

  • This paper addresses the problem of bearing-based network localization, which aims to localize all the nodes in a static network given the locations of a subset of nodes termed anchors and inter-node bearings measured in a common reference frame. The contributions of the paper are twofold. Firstly, we propose necessary and sufficient conditions for network localizability with both algebraic and rigidity theoretic interpretations. Secondly, we propose and analyze a linear distributed protocol for bearing-based network localization. One novelty of our work is that the localizability analysis and localization protocol are applicable to networks in arbitrary dimensional spaces.