Abstract
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.
Original language | Undefined |
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Title of host publication | Proceedings of the 52nd IEEE Conference on Decision and Control |
Place of Publication | USA |
Publisher | IEEE |
Pages | 4778-4783 |
Number of pages | 6 |
ISBN (Print) | 978-1-4673-5716-6 |
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 |
Publication series
Name | |
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Publisher | IEEE Control Systems Society |
Conference
Conference | 52nd IEEE Conference on Decision and Control, CDC 2013 |
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Abbreviated title | CDC |
Country/Territory | Italy |
City | Florence |
Period | 10/12/13 → 13/12/13 |
Keywords
- EWI-24172
- METIS-300254
- IR-88318