Simultaneous Velocity and Position Estimation via Distance-Only Measurements With Application to Multi-Agent System Control

DOI10.1109/TAC.2016.2558040MaRDI QIDQ2989592zbMATH OpenOpenAlexFDO

Authors Bomin Jiang, Mohammad Deghat, Brian D. O. Anderson

Publication date 8 June 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1411.3841

Mathematics Subject Classification ID

Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85)

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.

Cited in

(10)

• Adaptive 3D distance-based formation control of multiagent systems with unknown leader velocity and coplanar initial positions
• Node-to-node bipartite consensus of multi-agent systems with disturbances
• A distributed formation control scheme with obstacle avoidance for multiagent systems
• Formation control and collision avoidance for a class of multi-agent systems
• Estimation and control of oscillators through short-range noisy proximity measurements
• Triangular angle rigidity for distributed localization in 2D
• Optimal linear and quadratic estimators for tracking from distance measurements
• Manoeuvrable multi-agent formation control via time-varying flocking and iterative learning tracking
• Formation shape control based on distance measurements using Lie bracket approximations
• Distributed adaptive leaderless output consensus of uncertain nonlinear multi-agent systems with heterogenous system orders

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