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.
Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control
IEEE Transactions on Aerospace and Electronic Systems ; 53 , 2 ; 575-586
2017-04-01
1242716 byte
Article (Journal)
Electronic Resource
English
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