@inproceedings{9893e45c983642749917813e4b4bcd38,
title = "{"}1-N{"} leader-follower formation control of multiple agents based on bearing-only observation",
abstract = "A formation control method is proposed for multiple agents of {"}1{"} leader and {"}N{"} follower where the following N-agents (as called followers) can only observe the bearing information of the leading 1-agent (as called the leader). It is proven that bearing-only observation meets the observability condition required for the {"}1-N{"} leader-follower formation system. The unscented Kalman filter is employed to estimate the relative position of the leader, based on which the input-output feedback control law is executed to control the real-time movement of the followers so that the {"}1-N{"} leader-followers formation is properly maintained. Simulation results demonstrate the effectiveness of our approach.",
keywords = "Formation control, Multi-agent system, Unscented Kalman filter",
author = "Qing Han and Tiancheng Li and Shudong Sun and Gabriel Villarrubia and {De La Prieta}, Fernando",
note = "Publisher Copyright: {\textcopyright} 2015 Springer International Publishing Switzerland.; 13th International Conference on Practical Applications of Agents, Multi-Agent Systems and Sustainability, PAAMS 2015 ; Conference date: 03-06-2015 Through 04-06-2015",
year = "2015",
doi = "10.1007/978-3-319-18944-4_10",
language = "英语",
series = "Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)",
publisher = "Springer Verlag",
pages = "120--130",
editor = "{De la Prieta}, Fernando and Decker, {Keith S.} and Yves Demazeau and P{\'e}rez, {Javier Bajo}",
booktitle = "Advances in Practical Applications of Agents, Multi-Agent Systems, and Sustainability",
}