Distributed Orientation Localization of Multi-agent Systems in 3-dimensional Space with Direction-only Measurements

Quoc Van Tran, Hyo Sung Ahn, O. Brian D. Anderson

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Citations (Scopus)

Abstract

When a group of agents such as unmanned aerial vehicles are operating in 3-dimensional space, their coordinated action in pursuit of some group objective generally requires all agents to share a common coordinate frame or orientations of the coordinate axes of agents up to an unknown coordinate rotation common to all agents, which are simply referred to as having common coordinate axis orientations. Given coordinate axes that are initially unaligned, this paper considers the process of using direction measurements between agent pairs (obtained in their own coordinate frames) to achieve orientation localization, i.e. determination of common coordinate axis orientations, the calculations all being distributed. The process builds on the initial determination of relative orientations of agent pairs in a common coordinate basis. Distributed differential equations then allow determination of a common set of coordinate axis orientations, uniquely up to a common rotation transformation, which can itself be determined if and only if one or more agents have access to global coordinates.

Original languageEnglish
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2883-2889
Number of pages7
ISBN (Electronic)9781538613955
DOIs
Publication statusPublished - 2 Jul 2018
Externally publishedYes
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: 17 Dec 201819 Dec 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2018-December
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference57th IEEE Conference on Decision and Control, CDC 2018
Country/TerritoryUnited States
CityMiami
Period17/12/1819/12/18

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