Cooperative source localization of multi-agent system based on a cooperative PE condition

This paper deals with cooperative source localization with a group of agents where the source is static/dynamic. By making efficient use of the topology information, a loose condition-cooperative PE condition is obtained which is weaker than the traditionally defined PE condition. Since the agents that can directly connect to the source may exchange information with each other, a local cooperative estimator is designed to estimate the relative location of the source for them. We further study the cooperative source localization with a dynamic source, and obtain the corresponding conclusion. Finally, a simulation is provided to show the effectiveness of the proposed methods.