Simultaneous localization and formation using angle-only measurements in 2D
This paper solves the simultaneous localization and formation (SLAF) problem for a multi-agent system moving in 2D plane. The multi-agent system consists of leaders who have the knowledge of their absolute positions in the global coordinate frame, and followers who do not know their absolute positio...
| Main Authors: | , , , , |
|---|---|
| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2022
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/163725 |
| _version_ | 1826124491234738176 |
|---|---|
| author | Chen, Liangming Xie, Lihua Li, Xiaolei Fang, Xu Feroskhan, Mir |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Chen, Liangming Xie, Lihua Li, Xiaolei Fang, Xu Feroskhan, Mir |
| author_sort | Chen, Liangming |
| collection | NTU |
| description | This paper solves the simultaneous localization and formation (SLAF) problem for a multi-agent system moving in 2D plane. The multi-agent system consists of leaders who have the knowledge of their absolute positions in the global coordinate frame, and followers who do not know their absolute positions but have angle-only measurements and communication with respect to their neighboring agents. The aim of SLAF is to simultaneously localize and control the followers such that a desired formation among the leaders and followers can be achieved by using locally available sensing and communication information. To handle the challenging situation where the formation becomes unlocalizable at some nongeneric configurations, a perturbation-based SLAF algorithm is proposed such that the SLAF task can be achieved with an asymptotic convergence. To meet different tasks’ requirements, three types of distributed SLAF algorithms are designed for the followers when the leaders are static, move with constant, or time-varying velocities, respectively. The effect of measurement noises, extension to other types of sensor measurements, requirement on agents’ coordinate frames, collision and collinearity avoidance are also discussed. To validate the theoretical results, simulation examples corresponding to the discussed scenarios are carried out. |
| first_indexed | 2024-10-01T06:21:30Z |
| format | Journal Article |
| id | ntu-10356/163725 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:21:30Z |
| publishDate | 2022 |
| record_format | dspace |
| spelling | ntu-10356/1637252022-12-15T03:06:32Z Simultaneous localization and formation using angle-only measurements in 2D Chen, Liangming Xie, Lihua Li, Xiaolei Fang, Xu Feroskhan, Mir School of Mechanical and Aerospace Engineering School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Multi-Agent System Angle Measurements This paper solves the simultaneous localization and formation (SLAF) problem for a multi-agent system moving in 2D plane. The multi-agent system consists of leaders who have the knowledge of their absolute positions in the global coordinate frame, and followers who do not know their absolute positions but have angle-only measurements and communication with respect to their neighboring agents. The aim of SLAF is to simultaneously localize and control the followers such that a desired formation among the leaders and followers can be achieved by using locally available sensing and communication information. To handle the challenging situation where the formation becomes unlocalizable at some nongeneric configurations, a perturbation-based SLAF algorithm is proposed such that the SLAF task can be achieved with an asymptotic convergence. To meet different tasks’ requirements, three types of distributed SLAF algorithms are designed for the followers when the leaders are static, move with constant, or time-varying velocities, respectively. The effect of measurement noises, extension to other types of sensor measurements, requirement on agents’ coordinate frames, collision and collinearity avoidance are also discussed. To validate the theoretical results, simulation examples corresponding to the discussed scenarios are carried out. The work of Xiaolei Li was supported in part by the National Natural Science Foundation of China under Grants 61903319 and 62103352. 2022-12-15T03:06:31Z 2022-12-15T03:06:31Z 2022 Journal Article Chen, L., Xie, L., Li, X., Fang, X. & Feroskhan, M. (2022). Simultaneous localization and formation using angle-only measurements in 2D. Automatica, 146, 110605-. https://dx.doi.org/10.1016/j.automatica.2022.110605 0005-1098 https://hdl.handle.net/10356/163725 10.1016/j.automatica.2022.110605 2-s2.0-85138813020 146 110605 en Automatica © 2022 Elsevier Ltd. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Multi-Agent System Angle Measurements Chen, Liangming Xie, Lihua Li, Xiaolei Fang, Xu Feroskhan, Mir Simultaneous localization and formation using angle-only measurements in 2D |
| title | Simultaneous localization and formation using angle-only measurements in 2D |
| title_full | Simultaneous localization and formation using angle-only measurements in 2D |
| title_fullStr | Simultaneous localization and formation using angle-only measurements in 2D |
| title_full_unstemmed | Simultaneous localization and formation using angle-only measurements in 2D |
| title_short | Simultaneous localization and formation using angle-only measurements in 2D |
| title_sort | simultaneous localization and formation using angle only measurements in 2d |
| topic | Engineering::Electrical and electronic engineering Multi-Agent System Angle Measurements |
| url | https://hdl.handle.net/10356/163725 |
| work_keys_str_mv | AT chenliangming simultaneouslocalizationandformationusingangleonlymeasurementsin2d AT xielihua simultaneouslocalizationandformationusingangleonlymeasurementsin2d AT lixiaolei simultaneouslocalizationandformationusingangleonlymeasurementsin2d AT fangxu simultaneouslocalizationandformationusingangleonlymeasurementsin2d AT feroskhanmir simultaneouslocalizationandformationusingangleonlymeasurementsin2d |