| 1. |
- Fröhle, Markus, 1984, et al.
(författare)
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Formation control of multi-agent systems with location uncertainty
- 2017
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Ingår i: Multi-Technology Positioning. - Cham : Springer International Publishing. - 9783319504261 ; , s. 125-147
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- In this chapter the impact of realistic communication channels and uncertain location information on formation control of multi-agent systems aiming to achieve a common task is highlighted. First, the work is motivated by elucidating the need to incorporate realistic communication models as well as the need to model the agents’ location uncertainty. Second, it is discussed how control can be utilised to reduce the agents positioning error in cooperative systems to achieve a higher level goal, such as steering a group of agents towards a destination. Third, the impact of location uncertainty on channel gain prediction is addressed for formation control. Finally, conclusions and an outlook on future directions for controlled multi-agent systems are provided.
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| 2. |
- Zhang, Siwei, et al.
(författare)
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Location-Aware Formation Control in Swarm Navigation
- 2015
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Ingår i: IEEE Globecom Workshops. - 9781467395267
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Konferensbidrag (refereegranskat)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.
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