dc.contributor.author | Han, Qing | |
dc.contributor.author | Li, Tiancheng | |
dc.contributor.author | Sun, Shudong | |
dc.contributor.author | Villarrubia González, Gabriel | |
dc.contributor.author | Prieta Pintado, Fernando de la | |
dc.date.accessioned | 2017-09-06T09:15:16Z | |
dc.date.available | 2017-09-06T09:15:16Z | |
dc.date.issued | 2015/06 | |
dc.identifier.citation | Advances in Practical Applications of Agents, Multi-Agent Systems, and Sustainability: The PAAMS Collection. Lecture Notes in Computer Science. Volumen 9086, pp. 120-130. | |
dc.identifier.isbn | 978-3-319-18943-7 (Print), 978-3-319-18944-4 (Online) | |
dc.identifier.issn | 0302-9743 | |
dc.identifier.uri | http://hdl.handle.net/10366/134964 | |
dc.description.abstract | A formation control method is proposed for multiple agents of “1” leader and “N” follower where the following N-agents (as called followers) can only observe the bearing information of the leading 1-agent (as called the leader). It is proven that bearing-only observation meets the observability condition required for the “1-N” leader-follower formation system. The unscented Kalman filter is employed to estimate the relative position of the leader, based on which the input-output feedback control law is executed to control the real-time movement of the followers so that the “1-N” leader-followers formation is properly maintained. Simulation results demonstrate the effectiveness of our approach. | |
dc.format.mimetype | application/pdf | |
dc.language.iso | en | |
dc.publisher | Springer | |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Unported | |
dc.rights.uri | https://creativecommons.org/licenses/by-nc-nd/3.0/ | |
dc.subject | Computer Science | |
dc.title | “1-N” Leader-Follower Formation Control of Multiple Agents Based on Bearing-Only Observation | |
dc.type | info:eu-repo/semantics/article | |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | |