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The Dynamic Bearing Observability Matrix Nonlinear Observability and Estimation for Multi-Agent Systems

Fabrizio Schiano, Roberto Tron
2018 2018 IEEE International Conference on Robotics and Automation (ICRA)  
We consider the problem of localization in multiagent formations with bearing only measurements, and analyze the fundamental observability properties for dynamic agents.  ...  In particular, we show that 1) current methods are a particular instantiation of nonlinear observability theory, 2) we can introduce the concept of the dynamic bearing observability matrix from higher  ...  The Dynamic Bearing Observability Matrix Nonlinear Observability and Estimation for Multi-Agent Systems Fabrizio Schiano and Roberto Tron Abstract-We consider the problem of localization in multiagent  ... 
doi:10.1109/icra.2018.8460792 dblp:conf/icra/SchianoT18 fatcat:hhwjojbgw5hwdnaibphcnyrk4q

2013 Index IEEE Transactions on Automatic Control Vol. 58

2013 IEEE Transactions on Automatic Control  
., and Shroff, N. B  ...  ., +, TAC Oct. 2013 2654-2659 Estimation error A Decentralized Controller-Observer Scheme for Multi-Agent Weighted Centroid Tracking.  ...  to Multi-Agent Systems.  ... 
doi:10.1109/tac.2013.2295962 fatcat:3zpqog4r4nhoxgo4vodx4sj3l4

Scanning the Issue

2019 IEEE Transactions on Automatic Control  
The state-dependence of the moving interface makes the dynamics nonlinear and the system's order nonconstant.  ...  A control law and an observer are developed with the backstepping method for both Neumann and Dirichlet boundary actuations.  ...  In the last step, the extended high-gain observer is used to estimate the derivatives of the output as well as one unknown term including system uncertainties.  ... 
doi:10.1109/tac.2018.2887181 fatcat:lktaqqfywzhs3esq4khmboz57e

2014 Index IEEE Transactions on Automatic Control Vol. 59

2014 IEEE Transactions on Automatic Control  
., +, TAC Feb. 2014 423-436 On the Stabilizability and Consensus of Positive Homogeneous Multi-Agent Dynamical Systems. Valcher, M.  ...  ., +, TAC April 2014 996-1007 On the Stabilizability and Consensus of Positive Homogeneous Multi-Agent Dynamical Systems. Valcher, M.  ... 
doi:10.1109/tac.2014.2382720 fatcat:jah5kqkafvejrd7xpvyikmi53e

Trajectory planning for multiple robots in bearing-only target localisation

C. Leung, S. Huang, G. Dissanayake, T. Furukawa
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The trajectory planning is formulated as an optimal control problem for a nonlinear system with a gradually identified model and then solved using nonlinear Model Predictive Control (MPC).  ...  This paper provides a solution to the optimal trajectory planning problem in target localisation for multiple heterogeneous robots with bearing-only sensors.  ...  type and the dynamic model of the heterogeneous robots.  ... 
doi:10.1109/iros.2005.1545322 dblp:conf/iros/LeungHDF05 fatcat:7c6f6wjqcvfv5oyov55zaapltm

Cooperative Robot Localization Using Event-triggered Estimation [article]

Michael Ouimet, David Iglesias, Nisar Ahmed, Sonia Martinez
2018 arXiv   pre-print
Since agents know the event-triggering condition for measurements to be sent, the lack of a measurement is thus also informative and fused into state estimates.  ...  Simulations on both linear and nonlinear dynamics/measurement models show that the event-triggering approach achieves nearly optimal state estimation performance in a wide range of operating conditions  ...  Acknowledgments David Iglesias was supported by a fellowship from the Balsells Fellowship Program.  ... 
arXiv:1802.07346v1 fatcat:6dlxonem7bh3tia7ev2mju6d64

Table of contents

2020 2020 IEEE 9th Data Driven Control and Learning Systems Conference (DDCLS)  
Xinxin Liu, Junmin Li, Chao He 284 pth Moment Consensus of the Disturbed Multi-agent Systems…………… Hui Wang, Junmin Li, Chao He 290 Energy Sub Hub Based Energy Flow Matrix Modeling and Its Application to  ...  Mingliang Cui, Youqing Wang 449 Distributed Optimal Coordination Control for Continuous-Time Nonlinear Multi-Agent Systems with Input Constraints……….…………………………………..…………...…..  ...  Proceedings of 2020 IEEE 9th Data Driven Control and Learning Systems Conference November 20-22, 2020, Liuzhou, China  ... 
doi:10.1109/ddcls49620.2020.9275156 fatcat:kl3b4ptikjhzjn6p7eoqcmwypa

Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

Rini Akmeliawati, Safanah M. Raafat
2013 2013 9th Asian Control Conference (ASCC)  
System Based On Ethernet And CANBUS In AUV Xinjing Huang; Yibo Li*; Shijiu Jin 239 Adaptive consensus of multi-agent systems with unknown nonlinear dynamics Hui Yu*; Xiaohua Xia 240 Minimum  ...  Sajal Das*; Hemanshu Pota; Ian Petersen 437 Cooperative Area Reconnaissance for Multi-UAV in Dynamic Environment Jie Chen; Wenzhong Zha*; Zhihong Peng; Jian Zhang 439 Velocity Estimation and  ... 
doi:10.1109/ascc.2013.6606363 dblp:conf/ascc/AkmeliawatiR13 fatcat:l7enyvdgurhpdl6yetwsst3u7y

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] .  ...  For example, in a cooperative MAS team, it could be that a sensing agent performs the measurements, and sends its data to a data processing agent, which will perform estimation tasks and will possibly  ...  Red Temática de Sistemas Autónomos y Ciber-Físicos, and by the Mexican National Council for Science and Technology grant 263777.  ... 
doi:10.1002/rnc.3687 fatcat:obeavck6mbcspbldfxqtbzi7qm

2019 Index IEEE Transactions on Systems, Man, and Cybernetics: Systems Vol. 49

2019 IEEE Transactions on Systems, Man & Cybernetics. Systems  
., +, TSMC Oct. 2019 2119-2130 Estimation theory Adaptive Dynamic Surface Control Design for Uncertain Nonlinear Strict-Feedback Systems With Unknown Control Direction and Distur- bances.  ...  ., +, TSMC July 2019 1309-1321 Magnetic bearings Energy-Saving Dynamic Bias Current Control of Active Magnetic Bearing Positioning System Using Adaptive Differential Evolution.  ...  Open loop systems  ... 
doi:10.1109/tsmc.2019.2956665 fatcat:xhplbanlyne7nl7gp2pbrd62oi

Multi-UAV Doppler Information Fusion for Target Tracking Based on Distributed High Degrees Information Filters

Hamza Benzerrouk, Alexander Nebylov, Meng Li
2018 Aerospace (Basel)  
Three high dynamic UAVs are simulated with synchronized Doppler measurement broadcasted in parallel channels to the control center for global information fusion.  ...  To achieve this purpose, different measurement models such as range-only, range rate, and bearing-only tracking are used in the simulations.  ...  Author Contributions: Hamza Benzerrouk performed simulations and organized the paper content and wrote the paper; Alexander Nebylov has verified the feasibility of the theoretical approaches proposed in  ... 
doi:10.3390/aerospace5010028 fatcat:xfadt5sunjg6rcjsbebamgdwmq

Multi-AAV Cooperative Path Planning using Nonlinear Model Predictive Control with Localization Constraints [article]

Amith Manoharan, Rajnikanth Sharma, P.B. Sujit
2022 arXiv   pre-print
A moving horizon estimator (MHE) is used to estimate the vehicle states with the help of relative bearing information to known landmarks and other vehicles.  ...  In this paper, we solve a joint cooperative localization and path planning problem for a group of Autonomous Aerial Vehicles (AAVs) in GPS-denied areas using nonlinear model predictive control (NMPC).  ...  It uses the exact nonlinear models of the available measurements and system dynamics for estimation.  ... 
arXiv:2201.09285v1 fatcat:u6tv66jnyvhr3kp6k6vbyqbxz4

A Stochastic Characterization of the Capture Zone in Pursuit-Evasion Games

Simone Battistini
2020 Games  
Pursuit-evasion games are used to define guidance strategies for multi-agent planning problems.  ...  Although optimal strategies exist for deterministic scenarios, in the case when information about the opponent players is imperfect, it is important to evaluate the effect of uncertainties on the estimated  ...  Acknowledgments: The author would like to thank Henrique T.M. Menegaz (University of Brasília, Brazil) for the discussions on the use of the Mahalanobis distance in estimation problems.  ... 
doi:10.3390/g11040054 doaj:d135e2fffe0547a9b55a6c1f0dbde5d1 fatcat:zkqcwzulgvhb3dl5eggykmwq5m

Table of contents

2020 IEEE Transactions on Circuits and Systems - II - Express Briefs  
Zheng 1954 Observer Design for Discrete-Time Nonlinear Systems Using the Stability Radii Theory . . . . . J. D. Avilés and J. A.  ...  Zhang and Z. Wang 1979 Collision-Free Formation Control for Multi-Agent Systems With Dynamic Mapping . . . . . . . . . Y. Liu, P. Shi, and C.-C.  ... 
doi:10.1109/tcsii.2020.3020277 fatcat:nt5kaz64yna5lixsrssylq3e34

Vision-based range estimation via Immersion and Invariance for robot formation control

Fabio Morbidi, Gian Luca Mariottini, Domenico Prattichizzo
2008 2008 IEEE International Conference on Robotics and Automation  
The proposed reduced-order nonlinear observer achieves global exponential convergence of the observation error to zero and it is extremely simple to implement and to tune.  ...  The paper introduces a new vision-based range estimator based upon the Immersion and Invariance (I&I) methodology, for leader-follower formation control.  ...  INTRODUCTION In the last few years we witnessed a growing interest in robotics, in motion coordination and cooperative control of multi-agent systems.  ... 
doi:10.1109/robot.2008.4543257 dblp:conf/icra/MorbidiMP08 fatcat:m2b643pvk5d5letl5utaczzfky
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