On frame and orientation localization for relative sensing networks

  title={On frame and orientation localization for relative sensing networks},
  author={Giulia Piovan and Iman Shames and Barış Fidan and Francesco Bullo and Brian D. O. Anderson},
  journal={2008 47th IEEE Conference on Decision and Control},
We develop a novel localization theory for planar networks of nodes that measure each other¿s relative position, i.e., we assume that nodes do not have the ability to perform measurements expressed in a common reference frame. We begin with some basic definitions of frame localizability and orientation localizability. Based on some key kinematic relationships, we characterize orientation localizability for networks with angle-of-arrival sensing. We then address the orientation localization… CONTINUE READING

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