Distributed kalman filters for relative formation control of multi-agent systems

Martijn van der Marel, Raj Thilak Rajan

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

3 Citations (Scopus)
18 Downloads (Pure)


Formation control (FC) of multi-agent systems plays a critical role in a wide variety of fields. In the absence of absolute positioning, agents in FC systems rely on relative position measurements with respect to their neighbors. In distributed filter design literature, relative observation models are comparatively unexplored, and in FC literature, uncertainty models are rarely considered. In this article, we aim to bridge the gap between these domains, by exploring distributed filters tailored for relative FC of swarms. We propose statistically robust data models for tracking relative positions of agents in a FC network, and subsequently propose optimal Kalman filters for both centralized and distributed scenarios. Our simulations highlight the benefits of these estimators, and we identify future research directions based on our proposed framework.

Original languageEnglish
Title of host publication30th European Signal Processing Conference, EUSIPCO 2022 - Proceedings
PublisherEuropean Signal Processing Conference, EUSIPCO
Number of pages5
ISBN (Electronic)9789082797091
Publication statusPublished - 2022
Event30th European Signal Processing Conference, EUSIPCO 2022 - Belgrade, Serbia
Duration: 29 Aug 20222 Sept 2022

Publication series

NameEuropean Signal Processing Conference
ISSN (Print)2219-5491


Conference30th European Signal Processing Conference, EUSIPCO 2022

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • distributed estimation
  • formation control
  • Kalman filter
  • multi-agent systems
  • relative navigation


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