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Multi‐targets localization and elliptical circumnavigation by multi‐agents using bearing‐only measurements in two‐dimensional space
Author(s) -
Chun Shaoheng,
Tian YuPing
Publication year - 2020
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4932
Subject(s) - correctness , position (finance) , control theory (sociology) , estimator , bearing (navigation) , computer science , ideal (ethics) , space (punctuation) , stability (learning theory) , controller (irrigation) , series (stratigraphy) , algorithm , mathematics , artificial intelligence , geology , control (management) , paleontology , philosophy , statistics , finance , epistemology , machine learning , agronomy , economics , biology , operating system
Summary In order to enable the multi‐agents to elliptically circumnavigate the multi‐targets in more complex environment, we propose a geometric center estimator and an elliptical circumnavigation controller in two‐dimensional space by only employing bearing measurements without knowing the target's position and velocity. The stability of the algorithm is proved for both stationary targets and dynamic targets. Finally, a series of numerical simulations is presented to verify the correctness of the algorithm both in ideal networks and in networks with communication delays.