Abstract
Affine formation control of multiagent systems has recently received increasing attention in various applications. The distributed control of these agents, under single integrator dynamics, relies on the observations of relative positions of the neighboring agents, which when unavailable is detrimental to the mission. In this paper, we propose an adaptive fusion estimator of the relative positions under intermittent and consecutive observation loss settings. A relative affine localization (RAL) solution is developed by exploiting the geometry of affine formation, which is then embedded into a distributed relative Kalman filtering (RKF) framework, leading to the geometry-aware relative Kalman filter (GA-RKF). We show through simulations that the GA-RKF exhibits enhanced robustness to both intermittent and consecutive observation losses, as compared to RAL and existing state-of-art methods.
Original language | English |
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Title of host publication | 2023 26th International Conference on Information Fusion, FUSION 2023 |
Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
ISBN (Electronic) | 9798890344854 |
DOIs | |
Publication status | Published - 2023 |
Event | 26th International Conference on Information Fusion, FUSION 2023 - Charleston, United States Duration: 27 Jun 2023 → 30 Jun 2023 |
Publication series
Name | 2023 26th International Conference on Information Fusion, FUSION 2023 |
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Conference
Conference | 26th International Conference on Information Fusion, FUSION 2023 |
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Country/Territory | United States |
City | Charleston |
Period | 27/06/23 → 30/06/23 |
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-careOtherwise 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.
Keywords
- distributed Kalman filter
- formation control
- multiagent systems
- sensor fusion