Formation control of multi-agent systems with location uncertainty
Book chapter, 2017

In this chapter the impact of realistic communication channels and uncertain location information on formation control of multi-agent systems aiming to achieve a common task is highlighted. First, the work is motivated by elucidating the need to incorporate realistic communication models as well as the need to model the agents’ location uncertainty. Second, it is discussed how control can be utilised to reduce the agents positioning error in cooperative systems to achieve a higher level goal, such as steering a group of agents towards a destination. Third, the impact of location uncertainty on channel gain prediction is addressed for formation control. Finally, conclusions and an outlook on future directions for controlled multi-agent systems are provided.

Cramér-Rao bound

Formation control

Location uncertainty

Multi-agent systems

Swarm navigation

Spatial correlation

Channel prediction

Gaussian processes


Markus Fröhle

Chalmers, Signals and Systems, Communication, Antennas and Optical Networks

Henk Wymeersch

Chalmers, Signals and Systems, Communication, Antennas and Optical Networks

Themistoklis Charalambous

Aalto University

Siwei Zhang

German Aerospace Center (DLR)

Armin Dammann

German Aerospace Center (DLR)

Multi-Technology Positioning

978-331950426-1 (ISBN)

Areas of Advance

Information and Communication Technology

Subject Categories

Electrical Engineering, Electronic Engineering, Information Engineering





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