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    Bearing-Based Formation Control and Network Localization via Global Orientation Estimation

    84162.pdf (697.0Kb)
    Access Status
    Open access
    Authors
    Trinh, M.H.
    Lee, B.H.
    Ye, Mengbin
    Ahn, H.S.
    Date
    2018
    Type
    Conference Paper
    
    Metadata
    Show full item record
    Citation
    Trinh, M.H. and Lee, B.H. and Ye, M. and Ahn, H.S. 2018. Bearing-Based Formation Control and Network Localization via Global Orientation Estimation. In 2nd IEEE Conference on Control Technology and Application (CCTA), 21-24 Aug 2018, Copenhagen, Denmark.
    Source Title
    2018 IEEE Conference on Control Technology and Applications CCTA
    DOI
    10.1109/CCTA.2018.8511469
    ISBN
    9781538676981
    Faculty
    Faculty of Science and Engineering
    School
    School of Elec Eng, Comp and Math Sci (EECMS)
    URI
    http://hdl.handle.net/20.500.11937/84243
    Collection
    • Curtin Research Publications
    Abstract

    Consider a system of single-integrator agents in the d-dimensional space whose goal is to achieve a target formation shape specified by some desired bearing vectors. Suppose that the agents do not share a common global reference frame but can sense the relative orientations and bearing information with regard to some neighbor agents. We propose solutions to two problems: global orientation estimation and bearing-only measurement based formation control. Combining the solutions to the two problems, we solve the distributed bearing-based formation control problem. The combined strategy guarantees the desired formation shape is almost globally achieved up to a translation, a rotation and a scaling. Furthermore, we apply the proposed strategy to bearing-based network localization as a dual problem.

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