Distributed Source Localization of Multi-Agent Systems With Bearing Angle Measurements

被引：39

作者：

Lin, Che ^{[1
]}

Lin, Zhiyun ^{[1
,2
]}

Zheng, Ronghao ^{[1
]}

Yan, Gangfeng ^{[1
]}

Mao, Guoqiang ^{[3
]}

机构：

[1] Zhejiang Univ, Coll Elect Engn, State Key Lab Ind Control Technol, Hangzhou 310027, Peoples R China

[2] Univ Newcastle, Sch Elect Engn & Comp Sci, Callaghan, NSW 2308, Australia

[3] Univ Technol Sydney, Sch Comp & Commun, Sydney, NSW 2007, Australia

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2016年 / 61卷 / 04期

关键词：

Bearing information; multi-agent system; source localization; ACOUSTIC SOURCE LOCALIZATION; RING-COUPLED UNICYCLES; SENSOR NETWORKS; CIRCUMNAVIGATION; ALGORITHM; TRACKING;

D O I：

10.1109/TAC.2015.2457112

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This note deals with the distributed source localization problem by considering a group of unicycle-type agents. Without the need of GPS and compass, we develop a distributed source localization scheme based on bearing angle measurements about neighbors. It is shown that if the sensing and communication graph is connected and the relative motion of every pair of neighboring agents satisfies a persistent excitation condition, then every agent is able to estimate the relative coordinate of the source asymptotically.

引用

页码：1105 / 1110

页数：6

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