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Multiagent Self-localization Using Bearing Only Measurements

Ye, Mengbin; Anderson, Brian; Yu, Changbin (Brad)


This paper proposes a two stage approach to solving a simple network localization problem arising in the control of multi-vehicle formation shapes using bearing-only measurements. While it is impossible for one agent to localize, in its own coordinate basis, a second agent undergoing arbitrary plane motion using bearing-only measurements, this paper shows how to use a combination of a Fourier Transform and an overdetermined linear system of equations to allow two agents undergoing plane...[Show more]

CollectionsANU Research Publications
Date published: 2013
Type: Conference paper
Source: Proceedings of Decision and Control (CDC), 2013 IEEE 52nd Annual Conference
DOI: 10.1109/CDC.2013.6760201


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