Simultaneous velocity and position estimation via distance-only measurements with application to multi-agent system control
Date
2017-02
Authors
Jiang, Bomin
Deghat, Mohammad
Anderson, Brian D. O.
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Abstract
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, we show how this estimation method can
be used to control the formation shape and velocity of the agents in a multi
agent system. Simulation results are provided to illustrate the performance of
the proposed algorithm.
Description
Keywords
cooperative control, discrete time Malkin theorem, distance-only measurements, distributed control, formation control, multi-agent systems, sensor networks
Citation
Collections
Source
IEEE Transactions on Automatic Control
Type
Journal article
Book Title
Entity type
Access Statement
Open Access