Distributed Source Localization of Multi-Agent Systems With Bearing Angle Measurements.
Journal
IEEE Trans. Automat. Contr.
Journal Volume
61
Journal Issue
4
Pages
1105-1110
Date Issued
2016
Author(s)
Abstract
This note deals with the distributed source localization problem by considering a group of unicycle-type agents. Without the need of GPS and compass, we develop a distributed source localization scheme based on bearing angle measurements about neighbors. It is shown that if the sensing and communication graph is connected and the relative motion of every pair of neighboring agents satisfies a persistent excitation condition, then every agent is able to estimate the relative coordinate of the source asymptotically.
Type
journal article