Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control

Ye, Mengbin; Anderson, B.D.O.; Yu, C.

doi:10.1109/TAES.2017.2651538

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Access Status

Open access

Authors

Ye, Mengbin

Anderson, B.D.O.

Yu, C.

Date

2017

Type

Journal Article

Metadata

Show full item record

Citation

Ye, M. and Anderson, B.D.O. and Yu, C. 2017. Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control. IEEE Transactions on Aerospace and Electronic Systems. 53 (2): pp. 575-586.

Source Title

IEEE Transactions on Aerospace and Electronic Systems

DOI

10.1109/TAES.2017.2651538

ISSN

0018-9251

Faculty

Faculty of Science and Engineering

School

School of Electrical Engineering, Computing and Mathematical Sciences (EECMS)

Funding and Sponsorship

http://purl.org/au-research/grants/arc/ DP160104500

http://purl.org/au-research/grants/arc/ DP130103610

Remarks

© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

URI

http://hdl.handle.net/20.500.11937/84361

Collection

Curtin Research Publications

Abstract

Self-localization and formation control tasks are considered when each agent in a multiagent formation observes its neighbors but does not communicate. Each agent is restricted to a predefined motion type on a 2-D plane and collects bearing-only measurements over a time interval to localize neighboring agents. The localization process is used by a three agent formation to achieve velocity consensus combined with formation shape control. Simulations are provided and noisy bearing measurements are investigated.