Multi‐targets localization and elliptical circumnavigation by multi‐agents using bearing‐only measurements in two‐dimensional space
Shaoheng Chun, Yu‐Ping Tian
Abstract
Summary In order to enable the multi‐agents to elliptically circumnavigate the multi‐targets in more complex environment, we propose a geometric center estimator and an elliptical circumnavigation controller in two‐dimensional space by only employing bearing measurements without knowing the target's position and velocity. The stability of the algorithm is proved for both stationary targets and dynamic targets. Finally, a series of numerical simulations is presented to verify the correctness of the algorithm both in ideal networks and in networks with communication delays.
Topics & Concepts
CorrectnessPosition (finance)Control theory (sociology)EstimatorBearing (navigation)Computer scienceIdeal (ethics)Space (punctuation)Stability (learning theory)Controller (irrigation)Series (stratigraphy)AlgorithmMathematicsArtificial intelligenceGeologyControl (management)BiologyStatisticsPaleontologyOperating systemEpistemologyPhilosophyFinanceEconomicsMachine learningAgronomyDistributed Control Multi-Agent SystemsTarget Tracking and Data Fusion in Sensor NetworksDistributed Sensor Networks and Detection Algorithms