Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/161236
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dc.contributor.authorGuo, Kexinen_US
dc.contributor.authorLi, Xiuxianen_US
dc.contributor.authorXie, Lihuaen_US
dc.date.accessioned2022-08-22T04:42:04Z-
dc.date.available2022-08-22T04:42:04Z-
dc.date.issued2019-
dc.identifier.citationGuo, K., Li, X. & Xie, L. (2019). Ultra-wideband and odometry-based cooperative relative localization with application to multi-UAV formation control. IEEE Transactions On Cybernetics, 50(6), 2590-2603. https://dx.doi.org/10.1109/TCYB.2019.2905570en_US
dc.identifier.issn2168-2267en_US
dc.identifier.urihttps://hdl.handle.net/10356/161236-
dc.description.abstractThis puts forth an infrastructure-free cooperative relative localization (RL) for unmanned aerial vehicles (UAVs) in global positioning system (GPS)-denied environments. Instead of estimating relative coordinates with vision-based methods, an onboard ultra-wideband (UWB) ranging and communication (RCM) network is adopted to both sense the inter-UAV distance and exchange information for RL estimation in 2-D spaces. Without any external infrastructures prepositioned, each agent cooperatively performs a consensus-based fusion, which fuses the obtained direct and indirect RL estimates, to generate the relative positions to its neighbors in real time despite the fact that some UAVs may not have direct range measurements to their neighbors. The proposed RL estimation is then applied to formation control. Extensive simulations and real-world flight tests corroborate the merits of the developed RL algorithm.en_US
dc.language.isoenen_US
dc.relation.ispartofIEEE Transactions on Cyberneticsen_US
dc.rights© 2019 IEEE. All rights reserved.en_US
dc.subjectEngineering::Electrical and electronic engineeringen_US
dc.titleUltra-wideband and odometry-based cooperative relative localization with application to multi-UAV formation controlen_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.identifier.doi10.1109/TCYB.2019.2905570-
dc.identifier.pmid30951487-
dc.identifier.scopus2-s2.0-85084694726-
dc.identifier.issue6en_US
dc.identifier.volume50en_US
dc.identifier.spage2590en_US
dc.identifier.epage2603en_US
dc.subject.keywordsGPS-Denied Environmentsen_US
dc.subject.keywordsDistributed Formation Controlen_US
dc.description.acknowledgementThis work was supported in part by the Projects of Major International (Regional) Joint Research Program NSFC under Grant 61720106011.en_US
item.grantfulltextnone-
item.fulltextNo Fulltext-
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