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

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dc.contributor.authorJiang, Bomin
dc.contributor.authorDeghat, Mohammad
dc.contributor.authorAnderson, Brian D. O.
dc.date.accessioned2017-03-08T01:54:44Z
dc.date.available2017-03-08T01:54:44Z
dc.date.issued2017-02
dc.description.abstractThis 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.en_AU
dc.description.sponsorshipThis work was supported by National ICT Australia, which is funded by the Australian Research Council through the ICT Centre of Excellence program and is also supported by the Australian Research Council under Grant DP110100538.en_AU
dc.format7 pagesen_AU
dc.format.mimetypeapplication/pdfen_AU
dc.identifier.issn0018-9286en_AU
dc.identifier.urihttp://hdl.handle.net/1885/112976
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_AU
dc.relationhttp://purl.org/au-research/grants/arc/DP110100538en_AU
dc.rights© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. http://www.ieee.org/publications_standards/publications/rights/rights_policies.html The policy reaffirms the principle that authors are free to post the accepted version of their article on their personal web sites or those of their employers. Posting of the final, published PDF continues to be prohibited, except for open access articles, whose authors may freely post the final version.http://www.ieee.org/publications_standards/publications/rights/announcement_author_posting_updated.pdf (Publisher's website as of 4/5/2017)en_AU
dc.sourceIEEE Transactions on Automatic Controlen_AU
dc.subjectcooperative controlen_AU
dc.subjectdiscrete time Malkin theoremen_AU
dc.subjectdistance-only measurementsen_AU
dc.subjectdistributed controlen_AU
dc.subjectformation controlen_AU
dc.subjectmulti-agent systemsen_AU
dc.subjectsensor networksen_AU
dc.titleSimultaneous velocity and position estimation via distance-only measurements with application to multi-agent system controlen_AU
dc.typeJournal articleen_AU
dcterms.accessRightsOpen Accessen_AU
dcterms.dateAccepted2016-04-18
local.bibliographicCitation.issue2en_AU
local.bibliographicCitation.lastpage875en_AU
local.bibliographicCitation.startpage869en_AU
local.contributor.affiliationAnderson, Brian D. O., Research School of Engineering, College of Engineering and Computer Science, The Australian National Universityen_AU
local.contributor.authoremailBrian.Anderson@anu.edu.auen_AU
local.contributor.authoruidu8104642en_AU
local.identifier.citationvolume62en_AU
local.identifier.doi10.1109/TAC.2016.2558040en_AU
local.identifier.uidSubmittedByu4579722en_AU
local.publisher.urlhttp://www.ieee.org/en_AU
local.type.statusAccepted Versionen_AU

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