Continuum Deformation Coordination of Multi-Agent Systems Using Cooperative Localization

TL;DR

This paper presents a decentralized method for continuum deformation coordination in multi-agent systems using cooperative localization, ensuring safety and accurate positioning despite disturbances, demonstrated through simulations.

Contribution

It introduces a novel decentralized continuum deformation control approach combined with cooperative localization for multi-agent systems.

Findings

Effective in estimating global positions with relative measurements

Ensures safety in the presence of disturbances and noise

Validated through simulations with ten agents

Abstract

This paper studies the problem of decentralized continuum deformation coordination of multi-agent systems aided by cooperative localization. We treat agents as particles inside a triangular continuum (deformable body) in a2-D motion space and let the continuum deformation coordination be defined by three leaders located at vertices of a triangle, called the leading triangle. The leaders desired trajectories are assigned as the solution of a constrained optimal control problem such that safety requirements are satisfied in the presence of disturbance and measurement noise. Followers distributed inside the leading tri-angle acquire continuum deformation in a decentralized fashion by integrating cooperative localization and local communication. Specifically, cooperative localization estimates the global positions of all agents using relative position measurements based primarily on proximity of agents. Simulation results are presented for a network of ten agents.