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Location-Aware Formation Control in Swarm Navigation

Siwei Zhang ; Markus Fröhle (Institutionen för signaler och system, Kommunikationssystem) ; Henk Wymeersch (Institutionen för signaler och system, Kommunikationssystem) ; Armin Dammann ; Ronald Raulefs
IEEE Globecom Workshops (2015)
[Konferensbidrag, refereegranskat]

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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Denna post skapades 2015-12-15. Senast ändrad 2016-12-06.
CPL Pubid: 228413