Linear Theory for Self-Localization: Convexity, Barycentric Coordinates, and Cayley–Menger Determinants

@article{Khan2015LinearTF,
  title={Linear Theory for Self-Localization: Convexity, Barycentric Coordinates, and Cayley–Menger Determinants},
  author={Usman A. Khan and Soummya Kar and Jos{\'e} M. F. Moura},
  journal={IEEE Access},
  year={2015},
  volume={3},
  pages={1326-1339}
}
Localization, finding the coordinates of an object with respect to other objects with known coordinates-hereinafter, referred to as anchors, is a nonlinear problem, as it involves solving circle equations when relating distances to Cartesian coordinates, or, computing Cartesian coordinates from angles using the law of sines. This nonlinear problem has been a focus of significant attention over the past two centuries and the progress follows closely with the advances in instrumentation as well… 

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