Distributed source localization of multi-agent systems with bearing angle measurements

Title: Distributed source localization of multi-agent systems with bearing angle measurements
Creator: Lin, Che; Lin, Zhiyun; Zheng, Ronghao; Yan, Gangfeng; Mao, Guoqiang
Relation: IEEE Transactions on Automatic Control Vol. 61, Issue 4, p. 1105-1110
Publisher Link: http://dx.doi.org/10.1109/TAC.2015.2457112
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2016
Description: This note deals with the distributed source localization problem by considering a group of unicycle-type agents. Without the need of GPS and compass, we develop a distributed source localization scheme based on bearing angle measurements about neighbors. It is shown that if the sensing and communication graph is connected and the relative motion of every pair of neighboring agents satisfies a persistent excitation condition, then every agent is able to estimate the relative coordinate of the source asymptotically.
Subject: bearing information; multi-agent system; source localization
Identifier: http://hdl.handle.net/1959.13/1344940
Identifier: uon:29539
Identifier: ISSN:0018-9286
Language: eng
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