Integrated Relative-Measurement-Based Network Localization and Formation Maneuver Control (Extended Version)

Abstract

This paper studies the problem of integrated distributed network localization and formation maneuver control. We develop an integrated relative-measurement-based scheme, which only uses relative positions, distances, bearings, angles, ratio-of-distances, or their combination to achieve distributed network localization and formation maneuver control in ${\mathbb{R}}^d(d\ge 2)$. By exploring the localizability and invariance of the target formation, the scale, rotation, and translation of the formation can be controlled simultaneously by only tuning the leaders' positions, i.e., the followers do not need to know parameters of the scale, rotation, and translation of the target formation. The proposed method can globally drive the formation errors to zero in finite time over multi-layer $d+1$-rooted graphs. A simulation example is given to illustrate the theoretical results.

arXiv comment12 pages; 7 figures, title corrected, DOI added

References in corpus (5)

• Distributed Localization in Dynamic Networks via Complex Laplacian
• Simultaneous Velocity and Position Estimation via Distance-only Measurements with Application to Multi-Agent System Control
• Angle-Displacement Rigidity Theory with Application to Distributed Network Localization
• Integrated Relative-Measurement-Based Network Localization and Formation Maneuver Control (Extended Version)
• 2-D Directed Formation Control Based on Bipolar Coordinates

Cited by in corpus (2)

• Integrated Relative-Measurement-Based Network Localization and Formation Maneuver Control (Extended Version)
• Bearing-based Simultaneous Localization and Affine Formation Tracking for Fixed-wing Unmanned Aerial Vehicles