Consensus-Based Cooperative Source Localization of Multi-Agent Systems with Sampled Range Measurements

Author:

Chai Guofei1,Lin Che1,Lin Zhiyun12,Zhang Weidong34

Affiliation:

1. College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, P. R. China

2. State Key Laboratory of Industrial Control Technology, Zhejiang University, 38 Zheda Road, Hangzhou 310027, P. R. China

3. Department of Automation, Shanghai Jiaotong University, Shanghai 200240, P. R. China

4. Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai 200240, P. R. China

Abstract

This paper deals with the cooperative source localization problem for a cluster of mobile agents. The goal of each agent is to estimate the relative coordinate of a stationary source in its local frame via a cooperative manner. It is assumed that each agent may or may not have direct range measurements about the source or some neighbors. Collaboration among agents is desired so that every agent is able to estimate the relative coordinate of the source in real time though some agents may not have direct range measurements about the source. A novel discrete-time estimator and a consensus-like fusion scheme are developed for the problem. It is shown that the estimator together with the fusion scheme are globally asymptotically stable under very mild conditions. Numerical simulations are presented to illustrate the effectiveness of the proposed algorithms.

Publisher

World Scientific Pub Co Pte Lt

Subject

Control and Optimization,Aerospace Engineering,Automotive Engineering,Control and Systems Engineering

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