Consensus-Based Cooperative Source Localization of Multi-Agent Systems with Sampled Range Measurements
| Autor: | Che Lin, Zhiyun Lin, Weidong Zhang, Guofei Chai |
|---|---|
| Rok vydání: | 2014 |
| Předmět: |
Engineering
Control and Optimization business.industry Multi-agent system Frame (networking) Major stationary source Aerospace Engineering Estimator Computer Science::Multiagent Systems Range (mathematics) Control and Systems Engineering Control theory Stability theory Automotive Engineering Source localization Cluster (physics) business Algorithm |
| Zdroj: | Unmanned Systems. :231-241 |
| ISSN: | 2301-3869 2301-3850 |
| Popis: | This paper deals with the cooperative source localization problem for a cluster of mobile agents. The goal of each agent is to estimate the relative coordinate of a stationary source in its local frame via a cooperative manner. It is assumed that each agent may or may not have direct range measurements about the source or some neighbors. Collaboration among agents is desired so that every agent is able to estimate the relative coordinate of the source in real time though some agents may not have direct range measurements about the source. A novel discrete-time estimator and a consensus-like fusion scheme are developed for the problem. It is shown that the estimator together with the fusion scheme are globally asymptotically stable under very mild conditions. Numerical simulations are presented to illustrate the effectiveness of the proposed algorithms. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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