Location-Aware Formation Control in Swarm Navigation
Paper in proceedings, 2015

Goal-seeking and information-seeking are canonical problems in mobile agent swarms. We study the problem of collaborative goal-approaching under uncertain agent position information. We propose a framework that establishes location-aware formations, resulting in a controller that accounts for agent position uncertainty with a realistic ranging model. Simulation results confirm that, as the outcome of the controller, the swarm moves towards its goal, while emerging formations conducive to high-quality localization.

Author

Siwei Zhang

Markus Fröhle

Chalmers, Signals and Systems, Kommunikationssystem, informationsteori och antenner, Communication Systems

Henk Wymeersch

Chalmers, Signals and Systems, Kommunikationssystem, informationsteori och antenner, Communication Systems

Armin Dammann

Ronald Raulefs

IEEE Globecom Workshops

Areas of Advance

Information and Communication Technology

Subject Categories

Communication Systems

Robotics

Signal Processing

ISBN

978-1-4673-9526-7

More information

Created

10/8/2017