Simultaneous localization and formation using angle-only measurements in 2D

• Main Authors: Chen, Liangming, Xie, Lihua, Li, Xiaolei, Fang, Xu, Feroskhan, Mir
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; Multi-Agent System; Angle Measurements
• Online Access: https://hdl.handle.net/10356/163725
• Institution: Nanyang Technological University

This paper solves the simultaneous localization and formation (SLAF) problem for a multi-agent system moving in 2D plane. The multi-agent system consists of leaders who have the knowledge of their absolute positions in the global coordinate frame, and followers who do not know their absolute positio...