Bearing-Based Reliable Cooperative Localization for Multiagent Networks in the Presence of Malicious Measurements

Abstract

Due to the development of bearing-based sensors, the bearing-based localization becomes a typical technology for solving localization problems for multiagent networks. Most of the existing bearing-based network localization methods are developed under a secure environment. In contrast, this article studies a reliable bearing-based network localization problem in an adversarial environment, where some bearing measurements of the agents may be corrupted (which are called the malicious measurements). To address this problem, a relationship between the reliability and localizability of a multiagent network is first established, based on which a sufficient and necessary condition is then given to show how to search the malicious bearing measurements in the network. Furthermore, under the given condition, a new class of algorithms is designed, which enables the agents to cooperatively generate the estimations about their own locations, such that the estimation error is bounded. Especially, the error bound can be arbitrarily small, which relies on an adjustable parameter and is independent of the malicious measurements. In addition, the proposed algorithms are also extended to a localization scenario with measurement errors. Finally, the simulations are provided to demonstrate the effectiveness of the proposed algorithms.