Table 2 Notations used in this section
From: A cluster positioning architecture and relative positioning algorithm based on pigeon flock bionics
Notations | Meaning |
|---|---|
\({\varvec{G}}\) | Abstract diagram of cluster |
\({\varvec{V}}\) | Set of all nodes |
\({\varvec{E}}\) | Set of all edges,\({\varvec{E}}=\{{\varvec{L}},{\varvec{D}}\}\) |
\({\varvec{L}}\) | Set of all distance constraints |
\({\varvec{D}}\) | Set of all directional constraints |
\(|{\varvec{N}}|\) | Number of elements in set \({\varvec{N}}\) |
\({{\varvec{v}}}_{{\varvec{i}}}\) | Node \(i\) |
\({{\varvec{L}}}_{{\varvec{n}}}\) | Distance constraint \(n\) |
\({{\varvec{D}}}_{{\varvec{n}}}\) | Directional constraint \(n\) |
\({{\varvec{p}}}_{{\varvec{i}}}\) | Mapping coordinates of node \(i\) in \({{\varvec{R}}}^{2}\) space |
\({\varvec{R}}\left({\varvec{G}},\boldsymbol{ }{\varvec{P}}\right)\) | Rigid matrix of frame \(\left(G, P\right)\) |