This paper regards the relative localization problem in sensor networks. We study a randomized algorithm, which is based on input-driven consensus dynamics and involves pairwise “gossip‿ communications and updates. Due to the randomness of the updates, the state of this algorithm ergodically oscillates around a limit value. Exploiting the ergodicity of the dynamics, we show that the time-average of the state almost surely converges to the least-squares solution of the localization problem. Remarkably, the computation of the time-average does not require the sensors to share any common clock. Hence, the proposed algorithm is fully distributed and asynchronous.
|Title of host publication||Proceedings of the 52nd IEEE Conference on Decision and Control|
|Place of Publication||USA|
|Publisher||IEEE CONTROL SYSTEMS SOCIETY|
|Number of pages||6|
|Publication status||Published - Dec 2013|
|Event||52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy|
Duration: 10 Dec 2013 → 13 Dec 2013
Conference number: 52
|Publisher||IEEE Control Systems Society|
|Conference||52nd IEEE Conference on Decision and Control, CDC 2013|
|Period||10/12/13 → 13/12/13|
Ravazzi, C., Frasca, P., Tempo, R., & Ishii, H. (2013). Almost sure convergence of a randomized algorithm for relative localization in sensor networks. In Proceedings of the 52nd IEEE Conference on Decision and Control (pp. 4778-4783). USA: IEEE CONTROL SYSTEMS SOCIETY.