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dc.contributor.authorTrinh, M.H.
dc.contributor.authorLee, B.H.
dc.contributor.authorYe, Mengbin
dc.contributor.authorAhn, H.S.
dc.identifier.citationTrinh, 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.

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.

dc.titleBearing-Based Formation Control and Network Localization via Global Orientation Estimation
dc.typeConference Paper
dcterms.source.title2018 IEEE Conference on Control Technology and Applications CCTA
curtin.departmentSchool of Elec Eng, Comp and Math Sci (EECMS)
curtin.accessStatusOpen access
curtin.facultyFaculty of Science and Engineering
curtin.contributor.orcidYe, Mengbin [0000-0003-1698-0173]
curtin.contributor.scopusauthoridYe, Mengbin [56203529600]

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