Print Email Facebook Twitter Geometry-Aware Distributed Kalman Filtering for Affine Formation Control under Observation Losses Title Geometry-Aware Distributed Kalman Filtering for Affine Formation Control under Observation Losses Author Li, Z. (TU Delft Signal Processing Systems) Rajan, R.T. (TU Delft Signal Processing Systems) Date 2023 Abstract Affine formation control of multiagent systems has recently received increasing attention in various applications. The distributed control of these agents, under single integrator dynamics, relies on the observations of relative positions of the neighboring agents, which when unavailable is detrimental to the mission. In this paper, we propose an adaptive fusion estimator of the relative positions under intermittent and consecutive observation loss settings. A relative affine localization (RAL) solution is developed by exploiting the geometry of affine formation, which is then embedded into a distributed relative Kalman filtering (RKF) framework, leading to the geometry-aware relative Kalman filter (GA-RKF). We show through simulations that the GA-RKF exhibits enhanced robustness to both intermittent and consecutive observation losses, as compared to RAL and existing state-of-art methods. Subject distributed Kalman filterformation controlmultiagent systemssensor fusion To reference this document use: http://resolver.tudelft.nl/uuid:42b3bab2-58e5-47a4-83fe-1a752008ec31 DOI https://doi.org/10.23919/FUSION52260.2023.10224101 Publisher IEEE Embargo date 2024-02-26 ISBN 9798890344854 Source 2023 26th International Conference on Information Fusion, FUSION 2023 Event 26th International Conference on Information Fusion, FUSION 2023, 2023-06-27 → 2023-06-30, Charleston, United States Series 2023 26th International Conference on Information Fusion, FUSION 2023 Bibliographical note Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2023 Z. Li, R.T. Rajan Files PDF Geometry_Aware_Distribute ... Losses.pdf 1.54 MB Close viewer /islandora/object/uuid:42b3bab2-58e5-47a4-83fe-1a752008ec31/datastream/OBJ/view