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Distributed Sparsity-Based Bearing Estimation with a Swarm of Cooperative Agents

Shutin, Dmitriy and Zhang, Siwei (2016) Distributed Sparsity-Based Bearing Estimation with a Swarm of Cooperative Agents. In: 2016 IEEE Global Conference on Signal and Information Processing, GlobalSIP 2016 - Proceedings. IEEE. 2016 IEEE Global Conference on Signal and Information Processing, 7.- 9. Dez, Washingtion, US. doi: 10.1109/GlobalSIP.2016.7905903. ISBN 978-1-5090-4545-7.

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Abstract

The presented work discusses a distributed algorithm for solving a return-to-base problem in swarm robotics. A swarm of cooperative intelligent agents is used to span a phased array and cooperatively detect and estimate the bearing of a navigational beacon placed at an unknown location. Both signal detection and bearing estimation is solved jointly using sparse Bayesian learning with dictionary refinement. In the considered setting, Bayesian sparsity is used to detect the presence of the signal. Once signal is detected, its parameters are estimated using a gradient-based numerical technique, with both the gradient and the cost function value computed using classical average consensus over only 4 scalar values. As such, the scheme is independent of the network topology and is particularly useful for communication links with low communication rate. Synthetic simulations demonstrate the effectiveness of the algorithm.

Item URL in elib:https://elib.dlr.de/106292/
Document Type:Conference or Workshop Item (Poster)
Title:Distributed Sparsity-Based Bearing Estimation with a Swarm of Cooperative Agents
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Shutin, DmitriyDmitriy.Shutin (at) dlr.deUNSPECIFIED
Zhang, Siweisiwei.zhang (at) dlr.deUNSPECIFIED
Date:16 December 2016
Journal or Publication Title:2016 IEEE Global Conference on Signal and Information Processing, GlobalSIP 2016 - Proceedings
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/GlobalSIP.2016.7905903
Publisher:IEEE
ISBN:978-1-5090-4545-7
Status:Published
Keywords:Swarm exploration, direction of arrival estimation, multi-agent systems, distributed optimization, sparse bayesian learning
Event Title:2016 IEEE Global Conference on Signal and Information Processing
Event Location:Washingtion, US
Event Type:international Conference
Event Dates:7.- 9. Dez
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 - Verläßliche Navigation (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Shutin, Dmitriy
Deposited On:05 Oct 2016 15:10
Last Modified:09 Feb 2018 09:30

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