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

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.

[1]  Wenwu Yu,et al.  An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination , 2012, IEEE Transactions on Industrial Informatics.

[2]  W. Marsden.  I and J , 2012 .

[3]  Shiyu Zhao,et al.  Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization , 2014, IEEE Transactions on Automatic Control.

[4]  Brian D. O. Anderson,et al.  Formation control using range-only measurements , 2011, Autom..

[5]  Mireille E. Broucke,et al.  Stabilisation of infinitesimally rigid formations of multi-robot networks , 2009, Int. J. Control.

[6]  Aaas News,et al.  Book Reviews , 1893, Buffalo Medical and Surgical Journal.

[7]  Stergios I. Roumeliotis,et al.  Bearing-only target tracking using a bank of MAP estimators , 2011, 2011 IEEE International Conference on Robotics and Automation.

[8]  P.N. Pathirana,et al.  Bearing-Only Localization using Geometrically Constrained Optimization , 2009, IEEE Transactions on Aerospace and Electronic Systems.

[9]  Brian D. O. Anderson,et al.  Combining distance-based formation shape control with formation translation , 2012 .

[10]  John T. Wen,et al.  Cooperative Control Design - A Systematic, Passivity-Based Approach , 2011, Communications and control engineering.

[11]  Darko Musicki,et al.  Bearings only single-sensor target tracking using Gaussian mixtures , 2009, Autom..

[12]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[13]  Randal W. Beard,et al.  Graph-Based Observability Analysis of Bearing-Only Cooperative Localization , 2012, IEEE Transactions on Robotics.

[14]  Brian D. O. Anderson,et al.  Multiagent self-localization using bearing only measurements , 2013, 52nd IEEE Conference on Decision and Control.

[15]  T. Eren,et al.  Using Angle of Arrival (Bearing) Information in Network Localization , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[16]  Tolga Eren,et al.  Formation shape control based on bearing rigidity , 2012, Int. J. Control.

[17]  Mark E. Campbell,et al.  Cooperative Tracking Using Vision Measurements on SeaScan UAVs , 2007, IEEE Transactions on Control Systems Technology.

[18]  Kutluyil Dogançay.  Self-localization from landmark bearings using pseudolinear estimation techniques , 2014, IEEE Transactions on Aerospace and Electronic Systems.

[19]  Brian D. O. Anderson,et al.  Localization Bias Reduction in Wireless Sensor Networks , 2015, IEEE Transactions on Industrial Electronics.

[20]  T. Banchoff,et al.  Differential Geometry of Curves and Surfaces , 2010 .

[21]  Brian D. O. Anderson,et al.  Cooperative Self-Localization of Mobile Agents , 2011, IEEE Transactions on Aerospace and Electronic Systems.

[22]  Lionel Lapierre,et al.  Distributed Control of Coordinated Path Tracking for Networked Nonholonomic Mobile Vehicles , 2013, IEEE Transactions on Industrial Informatics.

[23]  Kostas E. Bekris,et al.  Evaluation of algorithms for bearing-only SLAM , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[24]  Brian D. O. Anderson,et al.  Simultaneous Velocity and Position Estimation via Distance-Only Measurements With Application to Multi-Agent System Control , 2014, IEEE Transactions on Automatic Control.

[25]  Reza Olfati-Saber,et al.  Coupled Distributed Estimation and Control for Mobile Sensor Networks , 2012, IEEE Transactions on Automatic Control.

[26]  Yongcan Cao,et al.  Distributed Coordination of Multi-agent Networks , 2011 .

[27]  Camillo J. Taylor,et al.  A vision-based formation control framework , 2002, IEEE Trans. Robotics Autom..

[28]  Xiao-Ping Zhang,et al.  A Novel Location-Penalized Maximum Likelihood Estimator for Bearing-Only Target Localization , 2012, IEEE Transactions on Signal Processing.

[29]  Kutluyil Dogançay,et al.  UAV Path Planning for Passive Emitter Localization , 2012, IEEE Transactions on Aerospace and Electronic Systems.

[30]  Brian D. O. Anderson,et al.  Range-only sensing for formation shape control and easy sensor network localization , 2011, 2011 Chinese Control and Decision Conference (CCDC).

[31]  D. Ghose,et al.  Search using multiple UAVs with flight time constraints , 2004, IEEE Transactions on Aerospace and Electronic Systems.

[32]  Branko Ristic,et al.  Tracking a manoeuvring target using angle-only measurements: algorithms and performance , 2003, Signal Process..

[33]  Antonio Franchi,et al.  Decentralized rigidity maintenance control with range measurements for multi-robot systems , 2013, Int. J. Robotics Res..