Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control

Mengbin Ye; Brian D.O. Anderson; Changbin Yu

doi:10.1109/TAES.2017.2651538

Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control

Mengbin Ye, Brian D.O. Anderson, Changbin Yu

Research output: Contribution to journal › Article › peer-review

41 Citations (Scopus)

Abstract

Self-localization and formation control tasks are considered when each agent in a multiagent formation observes its neighbors but does not communicate. Each agent is restricted to a predefined motion type on a 2-D plane and collects bearing-only measurements over a time interval to localize neighboring agents. The localization process is used by a three agent formation to achieve velocity consensus combined with formation shape control. Simulations are provided and noisy bearing measurements are investigated.

Original language	English
Article number	7815320
Pages (from-to)	575-586
Number of pages	12
Journal	IEEE Transactions on Aerospace and Electronic Systems
Volume	53
Issue number	2
DOIs	https://doi.org/10.1109/TAES.2017.2651538
Publication status	Published - Apr 2017

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abstract = "Self-localization and formation control tasks are considered when each agent in a multiagent formation observes its neighbors but does not communicate. Each agent is restricted to a predefined motion type on a 2-D plane and collects bearing-only measurements over a time interval to localize neighboring agents. The localization process is used by a three agent formation to achieve velocity consensus combined with formation shape control. Simulations are provided and noisy bearing measurements are investigated.",

keywords = "Bearing measurement, formation shape control, limited sensing, multiagent localization, velocity consensus",

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Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control

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