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A Survey on Techniques in the Circular Formation of Multi-Agent Systems

Hamida Litimein, Zhen-You Huang, Ameer Hamza
2021 Electronics  
The circular formation control of multi-agent systems becomes one of the most challenging and active research topics in distributed cooperative control.  ...  Distributed control solutions to the multi-agent systems in terms of coordination, formation, and consensus problems are extensively studied in the literature.  ...  Bearing Measurements The bearing angle refers to the angle subtended at agent a by its two neighbor agents [100] .  ... 
doi:10.3390/electronics10232959 fatcat:naxe6o6sovglrpoznsglkcjdwi

Adaptive consensus algorithms for real-time operation of multi-agent systems affected by switching network events

Filiberto Muñoz, Eduardo Steed Espinoza Quesada, Hung M. La, Sergio Salazar, Sesh Commuri, Luis Rodolfo Garcia Carrillo
2016 International Journal of Robust and Nonlinear Control  
Corresponding applications to cooperative multi-robot systems were reported in [30, 31] .  ...  In [25] , the consensus reaching of MAS was researched for distributed tracking control problems with general linear agent dynamics and leader's nonzero control input.  ...  ACKNOWLEDGEMENTS This work was partially supported by the Nevada Advanced Autonomous Systems Innovation Center, by the Mexican Secretariat of Public Education (SEP) grant PRODEP UPPACH-004, by the Project  ... 
doi:10.1002/rnc.3687 fatcat:obeavck6mbcspbldfxqtbzi7qm

Distributed Event-Triggered Approach for Multi-Agent Formation Based on Cooperative Localization with Mixed Measurements

Yanjun Lin, Zhiyun Lin, Zhiyong Sun
2021 Electronics  
This paper concentrates on multi-agent formation control problems under mixed measurements of distance and bearing.  ...  among a subgroup of agents) is triggered to recover relative position information by utilizing a mixed distance and bearing measurements from different agents.  ...  However, the agents in a multi-agent system may only have the capability of measuring one type of information such as distances or bearing angles.  ... 
doi:10.3390/electronics10182265 fatcat:luhsgnkaxncirifpq7rnwqzl2e

Quadrotor control for RF source localization and tracking

Jason T. Isaacs, Francois Quitin, Luis R. Garcia Carrillo, Upamanyu Madhow, Joao P. Hespanha
2014 2014 International Conference on Unmanned Aircraft Systems (ICUAS)  
This bearing or angle of arrival (AOA) estimate is then utilized by a particle filter for source localization and tracking.  ...  The use of a quadrotor for source localization and tracking requires a tight coupling of the attitude control and RF sensing designs.  ...  The proposed algorithm uses these bearing estimates in a Multi-Hypothesis Extended Kalman Filter (EKF) framework to localize all the agents.  ... 
doi:10.1109/icuas.2014.6842262 fatcat:anrus6mt3nbe3gcku4itb4674q

Indoor mobile robot localization using probabilistic multi-sensor fusion

Ren C. Luo, Chun Chi Lai
2007 2007 IEEE Workshop on Advanced Robotics and Its Social Impacts  
Theses may cause the sensor measurement failure to imperil the localization estimation procedure of an indoor service robot.  ...  Thus, multi-sensor fusion with a decision methodology is necessary for feasibility and reliability while service mobile robot is working in a compound indoor environment.  ...  The angle st I is an actual reflection angle from plane target and a norm distance s J is measured by a sonar sensor towards to a global bearing angle s D .Since the uniform distribution is assumed for  ... 
doi:10.1109/arso.2007.4531415 fatcat:lhtsfhkzo5fgbkdmxfrqzmniry

Local Bearing Estimation for a Swarm of Low-Cost Miniature Robots

Zheyu Liu, Craig West, Barry Lennox, Farshad Arvin
2020 Sensors  
Swarm robotics focuses on decentralised control of large numbers of simple robots with limited capabilities.  ...  For further investigation and improvement of the system, an additional layer of optimisation on the hardware layout was implemented.  ...  General Bearing Model For multi-robot systems, the common approach to determining the bearing to a neighbouring robot is to use the multi-sensory inter-robot communication system.  ... 
doi:10.3390/s20113308 pmid:32532071 fatcat:bknstv22prdcdjeliei3wenkoe

Using Angle of Arrival (Bearing) Information in Network Localization

Tolga Eren, Walter Whiteley, Peter N. Belhumeur
2006 Proceedings of the 45th IEEE Conference on Decision and Control  
In this paper, we consider using angle of arrival information (bearing) for network localization and control in two different fields of multi-agent systems: (i) wireless sensor networks; (ii) robot networks  ...  case) for a network with bearings, compared to formations with distances.  ...  A bearing is the angle between a sensing/communication link and the xaxis of a node's local coordinate system.  ... 
doi:10.1109/cdc.2006.376721 dblp:conf/cdc/ErenWB06 fatcat:rjndaefwsvetdpvculx72qtaii

RF source-seeking by a micro aerial vehicle using rotation-based angle of arrival estimates

Sriram Venkateswaran, Jason T. Isaacs, Kingsley Fregene, Richard Ratmansky, Brian M. Sadler, Joao P. Hespanha, Upamanyu Madhow
2013 2013 American Control Conference  
We prove convergence of this greedy algorithm under rather weak assumptions on the noise associated with the AOA estimates, using recent results on the property of recurrence for systems governed by stochastic  ...  A key novelty of our approach is in exploiting the rotation of the MAV and the directionality of its RF antenna to derive estimates of the angle of arrival (AOA) at each rotation.  ...  A Multi-Hypothesis Extended Kalman Filter framework is used to localize agents in a mobile robot team in [14] , where each robot is equipped with an antenna that provides a π periodic estimate of the  ... 
doi:10.1109/acc.2013.6580223 fatcat:hxo2gicy6rb4zamav2y3c7k6kq

Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots

Nima Moshtagh, Nathan Michael, Ali Jadbabaie, Kostas Daniilidis
2008 Robotics: Science and Systems IV  
It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanced circular formation.  ...  We consider two different scenarios that the connectivity graph of the system is either a complete graph or a ring.  ...  Let β ij be the relative angle between agents i and j as measured in the local coordinate frame of agent i.  ... 
doi:10.15607/rss.2008.iv.016 dblp:conf/rss/MoshtaghMJD08 fatcat:egwqis4l4verlfaswtdlt64hom

Distributed Source Seeking Without Global Position Information

Ruggero Fabbiano, Federica Garin, Carlos Canudas de Wit
2018 IEEE Transactions on Control of Network Systems  
The graph describing the communication links between sensors has a time-invariant topology, and each sensor is able to measure (in addition to the quantity of interest) only the relative bearing angle  ...  We present a distributed control law to steer a group of autonomous communicating sensors towards the source of a diffusion process.  ...  In recent years, leveraging the richness of results on collaborative sensing, distributed control and multi-agents formations, a new line of research has emerged, focusing on multi-agent source seeking  ... 
doi:10.1109/tcns.2016.2594493 fatcat:euqf4nz5ifgqrdjkuihatcaugu

Multi-robot localization via GPS and relative measurements in the presence of asynchronous and lossy communication

Marco Todescato, Andrea Carron, Ruggero Carli, Antonio Franchi, Luca Schenato
2016 2016 European Control Conference (ECC)  
This work addresses the problem of distributed multi-agent localization in presence of heterogeneous measurements and wireless communication.  ...  The proposed algorithm integrates low precision global sensors, like GPS and compasses, with more precise relative position (i.e., range plus bearing) sensors.  ...  is r i j ∼ N ( p i − p j , σ 2 r ). 4) The bearing sensor returns a noisy measurement δ i j of the bearing angle of the node j in the local frame of node i.  ... 
doi:10.1109/ecc.2016.7810670 dblp:conf/eucc/TodescatoCCFS16 fatcat:dwovyy3wnnarhl53dvrdciig6u

Sensor-Assisted Cooperative Localization and Communication in Multi-agent Networks [chapter]

Mattia Brambilla
2022 SpringerBriefs in Applied Sciences and Technology  
The dynamic environment of multi-agent systems calls for robust, flexible and adaptive techniques, capable of profitably fuse different types of information, and the outcomes of these researches show how  ...  These two macro trends are investigated in the general context of mobile multi-agent networks for situational awareness applications, where time-varying agents of unknown locations are asked to fulfill  ...  Distance and angular measurements fall within this category. An agent is able to estimate the relative distance or bearing angle with respect to another one by decoding known signals.  ... 
doi:10.1007/978-3-030-85918-3_11 fatcat:lhb2jamp4nesbjchpr7j2e7ylq

SwarmUS: An open hardware and software on-board platform for swarm robotics development [article]

Étienne Villemure
2022 arXiv   pre-print
These features include a distributed relative localization system based on Ultra-Wideband, a local communication system based on Wi-Fi and a distributed coordination system based on the Buzz programming  ...  The SwarmUS platform is an open-source hardware and software on-board embedded system designed to be added onto existing robots while providing them with swarm features, thus proposing a new take on the  ...  Part of the work was also supported by a NSERC Discovery grant. The team wants to acknowledge the precious exchanges and advices given by Pr.  ... 
arXiv:2203.02643v1 fatcat:vseasnrr2ndrjmmmymjg2vckmq

Maximum-Leaf Spanning Trees for Efficient Multi-Robot Recovery with Connectivity Guarantees [chapter]

Golnaz Habibi, James McLurkin
2014 Springer Tracts in Advanced Robotics  
This paper presents a self-stabilizing distributed algorithm for the recovery of a large population of robots in a complex environment-that is, to gather them all in a goal location.  ...  DMLST recovery has been tested in simulation, and implemented on a system of thirteen robots. While a basic recovery fails in all experiments, the DMLST recovery succeeds efficiently in most trials.  ...  This coordination reduces the available information for each robot to local network geometry. Each robot is equipped with infrared (IR) sensors that measure the bearing angle to its neighbors.  ... 
doi:10.1007/978-3-642-55146-8_20 fatcat:skv3xt74qneq3dt2e3uj773pfq

Bearing-only circumnavigation control of the multi-agent system around a moving target

Xiangke Wang, Zhongkui Li, Yangguang Yu, Lincheng Shen
2019 IET Control Theory & Applications  
The bearing-based coordinated circumnavigation control for networked multi-agent systems with only bearing measurements in the presence of moving target is studied.  ...  First, a distributed algorithm is proposed to estimate the target's velocity and the distances between the agents and the target, based on the velocity and the bearing information of the local network.  ...  In this paper, we address the bearing-based coordinated circumnavigation control problem for networked multi-agent systems with only bearing measurements in the presence of a moving target.  ... 
doi:10.1049/iet-cta.2018.6133 fatcat:7zsdgkvp4vf7hmw5ep6ca3wnoi
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