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Title: Distance-based cooperative relative localization for leader-following control of MAVs
Authors: Nguyen, Thien-Minh
Qiu, Zhirong
Nguyen, Thien Hoang
Cao, Muqing
Xie, Lihua
Keywords: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Issue Date: 2019
Source: Nguyen, T.-M., Qiu, Z., Nguyen, T. H., Cao, M., & Xie, L. (2019). Distance-based cooperative relative localization for leader-following control of MAVs. IEEE Robotics and Automation Letters, 4(4), 3641-3648. doi:10.1109/LRA.2019.2926671
Journal: IEEE Robotics and Automation Letters
Abstract: In multi-robot systems, the capability of each robot to relatively localize its neighbors is a crucial requirement, which needs to be resolved as a prerequisite for almost any distributed scheme of operation. Notably, this problem proves to be quite challenging in GPS-denied environments. In this letter, we investigate a problem of simultaneous relative localization and leader-following control of aerial robots by using only ranging and odometry sensors, waiving the need of external positioning systems. To tackle this challenge, we propose a cooperative estimation-control scheme where specialized agents called orbiters are tasked with maintaining persistently exciting trajectories to facilitate exponential convergence of both relative localization and tracking errors for itself and others. Numerical simulations and experiments on quadcopters in a GPS-denied environment are carried out to validate the theoretical findings.
ISSN: 2377-3766
DOI: 10.1109/LRA.2019.2926671
Rights: © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles

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