Almost sure convergence of a randomized algorithm for relative localization in sensor networks

Chiara Ravazzi, Paolo Frasca, Roberto Tempo, Hideaki Ishii

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    12 Citations (Scopus)


    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 languageUndefined
    Title of host publicationProceedings of the 52nd IEEE Conference on Decision and Control
    Place of PublicationUSA
    Number of pages6
    ISBN (Print)978-1-4673-5716-6
    Publication statusPublished - Dec 2013
    Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
    Duration: 10 Dec 201313 Dec 2013
    Conference number: 52

    Publication series

    PublisherIEEE Control Systems Society


    Conference52nd IEEE Conference on Decision and Control, CDC 2013
    Abbreviated titleCDC


    • EWI-24172
    • METIS-300254
    • IR-88318

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