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• W2486746904 abstract "This paper considers sensor localization in ℝm, i.e. the problem to find the positions of an arbitrary number of sensor nodes in the presence of at least m+1 anchor nodes, given only the inter-node distances. Assuming that the sensors lie in the convex hull of the anchors, we provide a linear, continuous-time update at each sensor that uses barycentric coordinates and Cayley-Menger determinants. In this paper, we consider design enhancements by adding a dynamic controller in the feed-forward loop of the location estimator at each sensor. We show that the dynamic controller has the ability to both speed-up the convergence and improve the transient behavior, while ensuring a certain disturbance rejection that could be introduced by inter-node communication. The design of the local controllers is based on the input-output approach, H∞ design and does not require the knowledge of global parameters. Simulations illustrates the concepts described in the paper." @default.
• W2486746904 created "2016-08-23" @default.
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• W2486746904 date "2016-07-01" @default.
• W2486746904 modified "2023-10-18" @default.
• W2486746904 title "Robust sensor localization with locally-computed, global H∞-design" @default.
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• W2486746904 doi "https://doi.org/10.1109/acc.2016.7526672" @default.
• W2486746904 hasPublicationYear "2016" @default.
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