Using Angle of Arrival (Bearing) Information for Localization in Robot Networks

Authors : Tolga EREN

Pages : 169-186

View : 13 | Download : 7

Publication Date : 0000-00-00

Article Type : Research Paper

Abstract :In this paper, we consider using angle of arrival information insert ignore into journalissuearticles values(bearing); for localization in robot networks. The essential property we require in this paper is that a node can infer heading information from its neighbors. We address the uniqueness of network localization solutions by the theory of globally rigid graphs. We show that while the parallel rigidity problem for formations with bearings is isomorphic to the distance case, the global rigidity of the formation is simpler insert ignore into journalissuearticles values(in fact identical to the simpler rigidity case); for a network with bearings, compared to formations with distances. We provide the conditions of localization for networks in which the neighbor relationship is not necessarily symmetric.
Keywords : Multi vehicle systems, multi robot systems, multi agent systems, sensor networks, robot networks, graph theory