Simultaneous Velocity and Position Estimation via Distance-only Measurements with Application to Multi-Agent System Control

TL;DR

This paper introduces a method for estimating velocity and position of agents in multi-agent systems using only distance measurements, enabling formation control without direct velocity or position data.

Contribution

It presents a novel estimator that combines circular and linear motions to infer velocity and position solely from distance measurements, facilitating control algorithms.

Findings

Estimator successfully infers velocity and position from distance data

Simulation demonstrates effective formation shape and velocity control

Method applicable to multi-agent systems with limited measurement capabilities

Abstract

This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough information for our objectives, we postulate that agents engage in a combination of circular motion and linear motion. The proposed estimator can be used to develop control algorithms where only distance measurements are available to each agent. As an example, we show how this estimation method can be used to control the formation shape and velocity of the agents in a multi agent system. Simulation results are provided to illustrate the performance of the proposed algorithm.