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EnglishMulti agent systems are becoming pervasive in modern industrial and service applications. Either being autonomous robotic agents or human beings performing a collaborative task, relative and/or absolute localisation of the team agents is a mandatory task to be efficiently solved for any meaningful application. In this paper, we will analyse the cooperative localisation problem from the perspective of the number and quality of the available measurements, rooting this analysis to a practical example of ranging measurements for robot localisation. We will make use of a known distributed Kalman filtering technique to highlight a trade off between number and quality of measurements, which is a known effect in estimation theory but never analysed for distributed estimation problems. What is surprising is that the net effect is quite similar to what happens in opinion formation for social groups, which is sometimes referred to as majority effect.
Majority effect in cooperative localisation of mobile agents using ranging measurements / Dal Ben, Sebastiano; Fontanelli, Daniele. - ELETTRONICO. - (2020), pp. 1-6. ((Intervento presentato al convegno I2MTC 2020 tenutosi a Dubrovnik, Croatia nel 25th-29th May 2020 [10.1109/I2MTC43012.2020.9128874].
| Titolo: | Majority effect in cooperative localisation of mobile agents using ranging measurements | |
| Autori: | Dal Ben, Sebastiano; Fontanelli, Daniele | |
| Autori Unitn: | ||
| Titolo del volume contenente il saggio: | I2MTC 2020: International Instrumentation and Measurement Technology Conference Proceedings | |
| Luogo di edizione: | Piscataway, NJ | |
| Casa editrice: | Institute of Electrical and Electronics Engineers Inc. | |
| Anno di pubblicazione: | 2020 | |
| Codice identificativo Scopus: | 2-s2.0-85088320354 | |
| ISBN: | 978-1-7281-4460-3 | |
| Handle: | http://hdl.handle.net/11572/286858 | |
| Citazione: | Majority effect in cooperative localisation of mobile agents using ranging measurements / Dal Ben, Sebastiano; Fontanelli, Daniele. - ELETTRONICO. - (2020), pp. 1-6. ((Intervento presentato al convegno I2MTC 2020 tenutosi a Dubrovnik, Croatia nel 25th-29th May 2020 [10.1109/I2MTC43012.2020.9128874]. | |
| Appare nelle tipologie: | 04.1 Saggio in atti di convegno (Paper in proceedings) |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| DistributedLocalization.pdf | Paper | Post-print referato (Refereed author’s manuscript) | Tutti i diritti riservati (All rights reserved) | Embargo: 31/12/2022 |
| Majority_Effect_in_Cooperative_localisation_of_Mobile_Agents_using_Ranging_Measurements.pdf | Versione editoriale (Publisher’s layout) | Tutti i diritti riservati (All rights reserved) | Administrator |
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