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Computer Science > Systems and Control

Title: Bearing Rigidity Theory and its Applications for Control and Estimation of Network Systems: Life Beyond Distance Rigidity

Abstract: The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in a network can only sense the relative bearings to their nearest neighbors. The study of this topic is motivated mainly by the rapid development of bearing-only sensors such as optical cameras or sensor arrays. This article provides a tutorial review on this topic focusing on the problems of formation control and network localization. A key component of this review is a presentation of the recently developed bearing rigidity theory, which defines a necessary architectural feature of multi-agent systems aiming to solve these two problems. This article presents a high-level summary of recently developed algorithms solving these problems, various simulation examples, and discussions pointing to the relevant literature and important remaining challenges in this area.
Comments: To appear in IEEE Control Systems Magazine
Subjects: Systems and Control (cs.SY)
Cite as: arXiv:1803.05505 [cs.SY]
  (or arXiv:1803.05505v1 [cs.SY] for this version)

Submission history

From: Shiyu Zhao [view email]
[v1] Wed, 14 Mar 2018 20:54:54 GMT (1159kb,D)