Translational velocity consensus using distance-only measurements

Bomin Jiang; Mohammad Deghat; Brian D.O. Anderson

doi:10.1109/CDC.2013.6760298

Translational velocity consensus using distance-only measurements

Bomin Jiang, Mohammad Deghat, Brian D.O. Anderson

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Citations (Scopus)

Abstract

This paper proposes a strategy to achieve translational velocity consensus in a multi-agent formation using distance-only measurements. Since with agents executing arbitrary motions, distance-only measurement cannot provide enough information for velocity consensus, we postulate that agents engage in a combination of circular motion and linear motion. When energy saving is the first priority, the linear motion component should dominate. On the other hand, when measurement accuracy is the first priority, the circular motion must be more prominent.

Original language	English
Title of host publication	2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2746-2751
Number of pages	6
ISBN (Print)	9781467357173
DOIs	https://doi.org/10.1109/CDC.2013.6760298
Publication status	Published - 2013
Event	52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy Duration: 10 Dec 2013 → 13 Dec 2013

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	52nd IEEE Conference on Decision and Control, CDC 2013
Country/Territory	Italy
City	Florence
Period	10/12/13 → 13/12/13

Access to Document

10.1109/CDC.2013.6760298

Cite this

Jiang, B., Deghat, M., & Anderson, B. D. O. (2013). Translational velocity consensus using distance-only measurements. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 2746-2751). Article 6760298 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6760298

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title = "Translational velocity consensus using distance-only measurements",

abstract = "This paper proposes a strategy to achieve translational velocity consensus in a multi-agent formation using distance-only measurements. Since with agents executing arbitrary motions, distance-only measurement cannot provide enough information for velocity consensus, we postulate that agents engage in a combination of circular motion and linear motion. When energy saving is the first priority, the linear motion component should dominate. On the other hand, when measurement accuracy is the first priority, the circular motion must be more prominent.",

author = "Bomin Jiang and Mohammad Deghat and Anderson, {Brian D.O.}",

year = "2013",

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note = "52nd IEEE Conference on Decision and Control, CDC 2013 ; Conference date: 10-12-2013 Through 13-12-2013",

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Jiang, B, Deghat, M & Anderson, BDO 2013, Translational velocity consensus using distance-only measurements. in 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013., 6760298, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 2746-2751, 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, 10/12/13. https://doi.org/10.1109/CDC.2013.6760298

Translational velocity consensus using distance-only measurements. / Jiang, Bomin; Deghat, Mohammad; Anderson, Brian D.O.
2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 2746-2751 6760298 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper proposes a strategy to achieve translational velocity consensus in a multi-agent formation using distance-only measurements. Since with agents executing arbitrary motions, distance-only measurement cannot provide enough information for velocity consensus, we postulate that agents engage in a combination of circular motion and linear motion. When energy saving is the first priority, the linear motion component should dominate. On the other hand, when measurement accuracy is the first priority, the circular motion must be more prominent.

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T3 - Proceedings of the IEEE Conference on Decision and Control

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Translational velocity consensus using distance-only measurements

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