Work

Data-Driven Displacement-Based Formation Control With Range-Only Measurements

Year: 2025

Type: article

Abstract: This paper proposes an algorithm to coordinate a displacement-based formation of a multi-agent system when their local frames are not aligned. Agents can measure neither the relative positions nor orientations, but only the range (distance) to their neighbors. We demonstrate that persistently exciting data exchanged between two agents can be used to infer relative positions and orientations. In the proposed method, we address discrete-time distributed orientation estimation based on an averaging consensus protocol. An asymptotic stability analysis of the desired formation shape is presented and the proposed strategy is validated through simulation results.

Source: IEEE Access

DOI: 10.1109/access.2025.3584829

Authors: Soojeong Hyeon, Hyuntae Kim, Hyungbo Shim

Institutions: Seoul National University, University of Oxford

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,075

Funders: National Research Foundation of Korea, Ministry of Science and ICT, South Korea