Formation control of multi-agent systems with location uncertainty
Kapitel i bok, 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.

Location uncertainty

Multi-agent systems

Formation control

Spatial correlation

Channel prediction

Gaussian processes

Cramér-Rao bound

Swarm navigation

Författare

Markus Fröhle

Signaler och system, Kommunikationssystem, informationsteori och antenner, Kommunikationssystem

Henk Wymeersch

Signaler och system, Kommunikationssystem, informationsteori och antenner, Kommunikationssystem

Themistoklis Charalambous

Aalto-Yliopisto

Siwei Zhang

Deutsches Zentrum fur Luft- Und Raumfahrt

Armin Dammann

Deutsches Zentrum fur Luft- Und Raumfahrt

Multi-Technology Positioning

125-147

Styrkeområden

Informations- och kommunikationsteknik

Ämneskategorier

Elektroteknik och elektronik

DOI

10.1007/978-3-319-50427-8_10

ISBN

978-331950426-1