TY - GEN
T1 - Distributed Orientation Localization of Multi-agent Systems in 3-dimensional Space with Direction-only Measurements
AU - Van Tran, Quoc
AU - Ahn, Hyo Sung
AU - Anderson, O. Brian D.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85062192244&partnerID=8YFLogxK
U2 - 10.1109/CDC.2018.8619850
DO - 10.1109/CDC.2018.8619850
M3 - Conference contribution
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2883
EP - 2889
BT - 2018 IEEE Conference on Decision and Control, CDC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 57th IEEE Conference on Decision and Control, CDC 2018
Y2 - 17 December 2018 through 19 December 2018
ER -