论文标题
从角度测量的平面点嵌入的可相实性
Realizability of Planar Point Embeddings from Angle Measurements
论文作者
论文摘要
一组节点的定位是机器人和传感器网络中的一个重要且经过深入研究的问题。本文涉及内部角度测量的本地化理论。我们专注于挑战性的情况，在没有锚点位置。受欧几里得距离矩阵的启发，我们研究了一组内角何时对应可实现的点集。特别是，我们发现线性和非线性约束是非常必要的，并且我们的猜想也足以表征可实现的角度集。我们在广泛的数值模拟中确认了这一点，并说明了这些约束来降级角度测量以及重建有效点集的使用。
Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case where no anchor locations are known. Inspired by Euclidean distance matrices, we investigate when a set of inner angles corresponds to a realizable point set. In particular, we find linear and non-linear constraints that are provably necessary, and we conjecture also sufficient for characterizing realizable angle sets. We confirm this in extensive numerical simulations, and we illustrate the use of these constraints for denoising angle measurements along with the reconstruction of a valid point set.
