Self-localization and formation control tasks are considered when each agent in a multiagent formation observes its neighbors but does not communicate. Each agent is restricted to a predefined motion type on a 2-D plane and collects bearing-only measurements over a time interval to localize neighboring agents. The localization process is used by a three agent formation to achieve velocity consensus combined with formation shape control. Simulations are provided and noisy bearing measurements are investigated.


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    Title :

    Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control


    Contributors:


    Publication date :

    2017-04-01


    Size :

    1242716 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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