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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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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 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
Authors:
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 SCOPUS:No
In ISI Web of Science:No
Status:Published
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
Organizer:IEEE
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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