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Simultaneous velocity and position estimation via distance-only measurements with application to multi-agent system control

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


This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough information for our objectives, we postulate that agents engage in a combination of circular motion and linear motion. The proposed estimator can be used to develop control algorithms where only distance measurements are available to each agent. As an example,...[Show more]

CollectionsANU Research Publications
Date published: 2017-02
Type: Journal article
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2016.2558040


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