ABSTRACT
In cooperative localization, internode measurements provide the relative location information of the nodes. Shape is all the geometrical information that remains when location, scale, and rotational effects are filtered out from an object. Internode measurements provide only the relative location information of the nodes, where the network absolute location, orientation, or even scaling are missing. The relative configuration, or named relative map, describes the shape of a network without considering the networks absolute location, orientation, and in some cases scaling. The chapter investigates how to construct the optimal minimally constrained system (MCS) and provides its geometric meaning, and discusses the anchor selection problem in cooperative localization. MCS refers to the minimal number of global constraints needed to derive node absolute locations. To evaluate the error on the estimation of relative configuration, it is confusing that the Euclidean distance of the coordinate representation differs under different choices of the reference vector.
