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Location information driven formation control for swarm return-to-base application

Zhang, Siwei and Raulefs, Ronald and Dammann, Armin (2016) Location information driven formation control for swarm return-to-base application. 2016 European Signal Processing Conference (EUSIPCO 2016), 29 Aug - 02- Sep, Budapest, Hungary.

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Abstract

Goal-seeking and information-seeking are canonical problems in mobile agent swarms. We study the problem of collaborative goal-approaching under uncertain agent position information. We propose a framework that establishes location-aware formations, resulting in a controller that accounts for agent position uncertainty with a realistic ranging model. Simulation results confirm that, as the outcome of the controller, the swarm moves towards its goal, while emerging formations conducive to high-quality localization.

Item URL in elib:https://elib.dlr.de/105176/
Document Type:Conference or Workshop Item (Speech)
Title:Location information driven formation control for swarm return-to-base application
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Zhang, Siweisiwei.zhang (at) dlr.deUNSPECIFIED
Raulefs, RonaldRonald.Raulefs (at) DLR.deUNSPECIFIED
Dammann, ArminArmin.Dammann (at) DLR.deUNSPECIFIED
Date:August 2016
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:active target tracking, multi-Agent Navigation, return-to-base, cooperative Navigation, swarm navigation
Event Title:2016 European Signal Processing Conference (EUSIPCO 2016)
Event Location:Budapest, Hungary
Event Type:international Conference
Event Dates:29 Aug - 02- Sep
Organizer:IEEE/ EURASIP
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Vorhaben GNSS2/Neue Dienste und Produkte
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation
Institute of Communication and Navigation > Communications Systems
Deposited By: Zhang, Siwei
Deposited On:15 Jul 2016 16:19
Last Modified:09 Feb 2018 09:30

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