TY - GEN
T1 - Range-only Distributed Formation Control and Network Localization based on Distributed Contracting Bearing Estimators
AU - Chen, Jin
AU - Marcantoni, Matteo
AU - Jayawardhana, Bayu
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024/2/26
Y1 - 2024/2/26
N2 - This paper investigates the distributed formation control problem solely based on range-only measurement, without the availability of bearing or relative bearing information. Without bearing information, local relative position necessary for maintaining rigid formation control cannot be obtained only based on range measurement. Correspondingly, range-only bearing estimator for a single landmark is proposed that can be directly combined with standard distributed rigid formation control law. Asymptotic stability analysis of the desired formation shape is presented and the proposed distributed approach is validated via numerical simulations.
AB - This paper investigates the distributed formation control problem solely based on range-only measurement, without the availability of bearing or relative bearing information. Without bearing information, local relative position necessary for maintaining rigid formation control cannot be obtained only based on range measurement. Correspondingly, range-only bearing estimator for a single landmark is proposed that can be directly combined with standard distributed rigid formation control law. Asymptotic stability analysis of the desired formation shape is presented and the proposed distributed approach is validated via numerical simulations.
UR - https://www.scopus.com/pages/publications/86000564905
U2 - 10.1109/CDC56724.2024.10886646
DO - 10.1109/CDC56724.2024.10886646
M3 - Conference contribution
AN - SCOPUS:86000564905
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 70
EP - 75
BT - 63rd IEEE Conference on Decision and Control
PB - IEEE
T2 - 63rd IEEE Conference on Decision and Control, CDC 2024
Y2 - 16 December 2024 through 19 December 2024
ER -