Abstract
The pointing consensus problem asks each agent in a multiagent system to agree on their headings toward a common target. This paper proposes a decentralized approach to the pointing consensus problem by simultaneously solving three smaller problems: bearing-only measurement based network localization, target decision, and heading coordination. The proposed solution guarantees that all agents' headings almost globally asymptotically target any weighted centroid of the agents' positions. Furthermore, based on this approach, two decentralized solutions for the Fermat-Weber location problem are proposed and analyzed. Simulation results are also provided to support the analysis.
| Original language | English |
|---|---|
| Article number | 8758860 |
| Pages (from-to) | 2339-2354 |
| Number of pages | 16 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 65 |
| Issue number | 6 |
| DOIs | |
| State | Published - Jun 2020 |
Keywords
- Bearing-only measurements
- Fermat-Weber location problem (FWLP)
- decentralized control
- multiagent systems
- network localization
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
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