Location-Aware Formation Control in Swarm Navigation
Paper i proceeding, 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.

Författare

Siwei Zhang

Markus Fröhle

Chalmers, Signaler och system, Kommunikations- och antennsystem, Kommunikationssystem

Henk Wymeersch

Chalmers, Signaler och system, Kommunikations- och antennsystem, Kommunikationssystem

Armin Dammann

Ronald Raulefs

IEEE Globecom Workshops

Styrkeområden

Informations- och kommunikationsteknik

Ämneskategorier

Kommunikationssystem

Robotteknik och automation

Signalbehandling

ISBN

978-1-4673-9526-7

Mer information

Skapat

2017-10-08