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Location-Aware Formation Control in Swarm Navigation

Zhang, Siwei and Fröhle, Markus and Wymeersch, Henk and Dammann, Armin and Raulefs, Ronald (2015) Location-Aware Formation Control in Swarm Navigation. Globecom workshop Wi-UAV 2015, 06-10 Dec 2015, San Diego, USA.

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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 locationaware 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/98568/
Document Type:Conference or Workshop Item (Speech)
Title:Location-Aware Formation Control in Swarm Navigation
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Zhang, Siweisiwei.zhang (at) dlr.deUNSPECIFIED
Fröhle, Markusfrohle (at) chalmers.seUNSPECIFIED
Wymeersch, Henkhenkw (at) chalmers.seUNSPECIFIED
Dammann, ArminArmin.Dammann (at) DLR.deUNSPECIFIED
Raulefs, RonaldRonald.Raulefs (at) DLR.deUNSPECIFIED
Date:September 2015
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:multi-agent, swarm navigation, network localization, swarm control
Event Title:Globecom workshop Wi-UAV 2015
Event Location:San Diego, USA
Event Type:international Conference
Event Dates:06-10 Dec 2015
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:18 May 2016 18:24
Last Modified:18 May 2016 18:24

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