Bearing-Based Formation Control and Network Localization via Global Orientation Estimation
Consider a system of single-integrator agents in the d-dimensional space whose goal is to achieve a target formation shape specified by some desired bearing vectors. Suppose that the agents do not share a common global reference frame but can sense the relative orientations and bearing information w...
| Main Authors: | , , , |
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| Format: | Conference Paper |
| Published: |
2018
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| Online Access: | http://hdl.handle.net/20.500.11937/84243 |
| _version_ | 1848764633464176640 |
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| author | Trinh, M.H. Lee, B.H. Ye, Mengbin Ahn, H.S. |
| author_facet | Trinh, M.H. Lee, B.H. Ye, Mengbin Ahn, H.S. |
| author_sort | Trinh, M.H. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | Consider a system of single-integrator agents in the d-dimensional space whose goal is to achieve a target formation shape specified by some desired bearing vectors. Suppose that the agents do not share a common global reference frame but can sense the relative orientations and bearing information with regard to some neighbor agents. We propose solutions to two problems: global orientation estimation and bearing-only measurement based formation control. Combining the solutions to the two problems, we solve the distributed bearing-based formation control problem. The combined strategy guarantees the desired formation shape is almost globally achieved up to a translation, a rotation and a scaling. Furthermore, we apply the proposed strategy to bearing-based network localization as a dual problem. |
| first_indexed | 2025-11-14T11:22:27Z |
| format | Conference Paper |
| id | curtin-20.500.11937-84243 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T11:22:27Z |
| publishDate | 2018 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-842432021-07-08T03:47:51Z Bearing-Based Formation Control and Network Localization via Global Orientation Estimation Trinh, M.H. Lee, B.H. Ye, Mengbin Ahn, H.S. Consider a system of single-integrator agents in the d-dimensional space whose goal is to achieve a target formation shape specified by some desired bearing vectors. Suppose that the agents do not share a common global reference frame but can sense the relative orientations and bearing information with regard to some neighbor agents. We propose solutions to two problems: global orientation estimation and bearing-only measurement based formation control. Combining the solutions to the two problems, we solve the distributed bearing-based formation control problem. The combined strategy guarantees the desired formation shape is almost globally achieved up to a translation, a rotation and a scaling. Furthermore, we apply the proposed strategy to bearing-based network localization as a dual problem. 2018 Conference Paper http://hdl.handle.net/20.500.11937/84243 10.1109/CCTA.2018.8511469 fulltext |
| spellingShingle | Trinh, M.H. Lee, B.H. Ye, Mengbin Ahn, H.S. Bearing-Based Formation Control and Network Localization via Global Orientation Estimation |
| title | Bearing-Based Formation Control and Network Localization via Global Orientation Estimation |
| title_full | Bearing-Based Formation Control and Network Localization via Global Orientation Estimation |
| title_fullStr | Bearing-Based Formation Control and Network Localization via Global Orientation Estimation |
| title_full_unstemmed | Bearing-Based Formation Control and Network Localization via Global Orientation Estimation |
| title_short | Bearing-Based Formation Control and Network Localization via Global Orientation Estimation |
| title_sort | bearing-based formation control and network localization via global orientation estimation |
| url | http://hdl.handle.net/20.500.11937/84243 |