On base station localization for state estimation over lossy networks

Fair opportunistic schedulers for Lossy Polling systems

Polling systems with losses are useful mathematical objects that can model many practical systems like travelling salesman problem with recurrent requests. One of the less studied yet an important aspect in such systems is the disparity in the utilities derived by the individual stations. Further, the random fluctuations of the travel conditions can have significant impact on the performance. This calls for a scheduler that caters to the fairness aspect, depends upon the travel conditions and the dynamic system state. Inspired by the generalized alpha-fair schedulers of wireless networks, we p…

Generalized gradient optimization over lossy networks for partition-based estimation

We address the problem of distributed convex unconstrained optimization over networks characterized by asynchronous and possibly lossy communications. We analyze the case where the global cost function is the sum of locally coupled local strictly convex cost functions. As discussed in detail in a motivating example, this class of optimization objectives is, for example, typical in localization problems and in partition-based state estimation. Inspired by a generalized gradient descent strategy, namely the block Jacobi iteration, we propose a novel solution which is amenable for a distributed i…

Pose Localization of Leader-Follower Networks with Direction Measurements

A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of the need for using distance measurements and relative orientation measurements for the network pose localization problem. In particular, a network localization scheme is developed based directly on the measured direction constraints between an agent and its neighboring agents in the network. The proposed position and orientation localization algorithms are im…

多智能体无通信仅方位分布式目标定位与环绕

Communication-Free Bearing-Only Distributed Target Localization and Circumnavigation by Multiple Agents

针对无通信条件下多智能体仅靠方位测量定位并环绕未知静止目标的问题，提出角间距近似算法与分布式环绕控制律，并证明全局渐近稳定性。

用于寻找传感器网络定位全局解的非凸势博弈

Non-convex potential games for finding global solutions to sensor network localization

针对非凸传感器网络定位问题，本文构建非凸多人势博弈，利用对偶规范理论转化为互补对偶问题，并开发基于共轭的算法，提出全局纳什均衡的识别条件，最后通过仿真验证了理论有效性。