NDLI: Solving ambiguities in MDS relative localization

Content Provider	IEEE Xplore Digital Library
Author	Di Franco, C. Melani, A. Marinoni, M.
Copyright Year	2015
Description	Author affiliation: Scuola Superiore Sant'Anna, Pisa, Italy (Di Franco, C.; Melani, A.; Marinoni, M.)
Abstract	Monitoring teams of mobile nodes is becoming crucial in a growing number of activities. Where it is not possible to use fixed references or external measurements, one of the possible solutions involves deriving relative positions from local communication. Well-known techniques such as trilateration and multilateration exist to locate a single node although such methods are not designed to locate entire teams. The technique of Multidimensional Scaling (MDS), however, allow us to find the relative coordinates of entire teams starting from the knowledge of the inter-node distances. However, like every relative-localization technique, it suffers from geometrical ambiguities including rotation, translation, and flip. In this work, we address such ambiguities by exploiting the node velocities to correlate the relative maps at two consecutive instants. In particular, we introduce a new version of MDS, called enhanced Multidimensional Scaling (eMDS), which is able to handle these types of ambiguities. The effectiveness of our localization technique is then validated by a set of simulation experiments and our results are compared against existing approaches.
Starting Page	230
Ending Page	236
File Size	617136
Page Count	7
File Format	PDF
e-ISBN	9781467375092
DOI	10.1109/ICAR.2015.7251461
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-27
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mathematical model Noise measurement Sensors Stress Minimization Kalman filters Standards
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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