Consensus filter based target-enclosing strategies for multiple nonholonomic vehicles

Hiroki Kawakami, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This paper deals with cooperative target-enclosing problems using consensus filter for multiple vehicle systems. Proposed strategies are based on consensus seeking algorithms and at least one vehicle only has to acquire the states of targetobject. In addition, the measurement signals are made to be agreed using the consensus filters when each vehicle acquires the noisy signal of the states of the target-object. To analyze the enclosing problem, algebraic graph theory and matrix theory are utilized. Numerical simulations and experiments are carried out to demonstrate the effectiveness of proposed methods.

Original languageEnglish
Title of host publicationProceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Pages2282-2287
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Externally publishedYes
Event47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
Duration: 2008 Dec 92008 Dec 11

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other47th IEEE Conference on Decision and Control, CDC 2008
CountryMexico
CityCancun
Period08/12/908/12/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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  • Cite this

    Kawakami, H., & Namerikawa, T. (2008). Consensus filter based target-enclosing strategies for multiple nonholonomic vehicles. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008 (pp. 2282-2287). [4739008] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2008.4739008