Bearing-based distributed control and estimation of multi-agent systems

Shiyu Zhao; Daniel Zelazo

doi:10.1109/ECC.2015.7330866

Bearing-based distributed control and estimation of multi-agent systems

Shiyu Zhao
, Daniel Zelazo

Aerospace Engineering

Technion - Israel Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position measurements and (ii) the distributed localization of sensor networks using bearing measurements. Both of the two problems are considered in arbitrary dimensional spaces. The analyses of the two problems rely on the recently developed bearing rigidity theory.We show that the two problems have the same mathematical formulation and can be solved by identical protocols. The proposed controller and estimator can globally solve the two problems without ambiguity. The results are supported with illustrative simulations.

Original language	English
Title of host publication	2015 European Control Conference, ECC 2015
Pages	2202-2207
Number of pages	6
ISBN (Electronic)	9783952426937
DOIs	https://doi.org/10.1109/ECC.2015.7330866
State	Published - 16 Nov 2015
Event	European Control Conference, ECC 2015 - Linz, Austria Duration: 15 Jul 2015 → 17 Jul 2015

Publication series

Name	2015 European Control Conference, ECC 2015

Conference

Conference	European Control Conference, ECC 2015
Country/Territory	Austria
City	Linz
Period	15/07/15 → 17/07/15

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ECC.2015.7330866

Cite this

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title = "Bearing-based distributed control and estimation of multi-agent systems",

abstract = "This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position measurements and (ii) the distributed localization of sensor networks using bearing measurements. Both of the two problems are considered in arbitrary dimensional spaces. The analyses of the two problems rely on the recently developed bearing rigidity theory.We show that the two problems have the same mathematical formulation and can be solved by identical protocols. The proposed controller and estimator can globally solve the two problems without ambiguity. The results are supported with illustrative simulations.",

author = "Shiyu Zhao and Daniel Zelazo",

note = "Funding Information: The work presented here has been supported by the Israel Science Foundation Publisher Copyright: {\textcopyright} 2015 EUCA.; European Control Conference, ECC 2015 ; Conference date: 15-07-2015 Through 17-07-2015",

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AU - Zelazo, Daniel

PY - 2015/11/16

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N2 - This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position measurements and (ii) the distributed localization of sensor networks using bearing measurements. Both of the two problems are considered in arbitrary dimensional spaces. The analyses of the two problems rely on the recently developed bearing rigidity theory.We show that the two problems have the same mathematical formulation and can be solved by identical protocols. The proposed controller and estimator can globally solve the two problems without ambiguity. The results are supported with illustrative simulations.

AB - This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position measurements and (ii) the distributed localization of sensor networks using bearing measurements. Both of the two problems are considered in arbitrary dimensional spaces. The analyses of the two problems rely on the recently developed bearing rigidity theory.We show that the two problems have the same mathematical formulation and can be solved by identical protocols. The proposed controller and estimator can globally solve the two problems without ambiguity. The results are supported with illustrative simulations.

UR - https://www.scopus.com/pages/publications/84963804611

U2 - 10.1109/ECC.2015.7330866

DO - 10.1109/ECC.2015.7330866

M3 - Conference contribution

T3 - 2015 European Control Conference, ECC 2015

SP - 2202

EP - 2207

BT - 2015 European Control Conference, ECC 2015

T2 - European Control Conference, ECC 2015

Y2 - 15 July 2015 through 17 July 2015

ER -

Bearing-based distributed control and estimation of multi-agent systems

Abstract

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Conference

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