TY - GEN
T1 - Consensus filter based target-enclosing strategies for multiple nonholonomic vehicles
AU - Kawakami, Hiroki
AU - Namerikawa, Toru
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=62949103045&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2008.4739008
DO - 10.1109/CDC.2008.4739008
M3 - Conference contribution
AN - SCOPUS:62949103045
SN - 9781424431243
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2282
EP - 2287
BT - Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 47th IEEE Conference on Decision and Control, CDC 2008
Y2 - 9 December 2008 through 11 December 2008
ER -