TY - GEN
T1 - Time-varying formation tracking with distributed multi-sensor multi-target filtering
AU - Qi, Jialin
AU - Zhang, Zheng
AU - Dong, Xiwang
AU - Yu, Jianglong
AU - Li, Qingdong
AU - Jiang, Hong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Formation tracking is used widely in targets enclosing, monitoring, and striking; however, in practical scenes, the targets are always uncooperative. The problem of time-varying formation tracking for multi-agent with multi-target, which states are unknown is studied in this paper. In order to obtain the accurate state estimations of targets, a distributed multi-sensor multi-target filtering algorithm based on the cubature Kalman filter scheme and multiple heterogeneous sensors is proposed. Then the state estimations obtained by the filtering algorithm are adopted to design a time-varying formation tracking protocol for multi-agent, enabling multi-agent to form a time-varying formation to track the convex combination of targets. Finally, the effectiveness of this proposed algorithm is illustrated by numerical example.
AB - Formation tracking is used widely in targets enclosing, monitoring, and striking; however, in practical scenes, the targets are always uncooperative. The problem of time-varying formation tracking for multi-agent with multi-target, which states are unknown is studied in this paper. In order to obtain the accurate state estimations of targets, a distributed multi-sensor multi-target filtering algorithm based on the cubature Kalman filter scheme and multiple heterogeneous sensors is proposed. Then the state estimations obtained by the filtering algorithm are adopted to design a time-varying formation tracking protocol for multi-agent, enabling multi-agent to form a time-varying formation to track the convex combination of targets. Finally, the effectiveness of this proposed algorithm is illustrated by numerical example.
UR - https://www.scopus.com/pages/publications/85165672736
U2 - 10.1109/ICUAS57906.2023.10156458
DO - 10.1109/ICUAS57906.2023.10156458
M3 - 会议稿件
AN - SCOPUS:85165672736
T3 - 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
SP - 448
EP - 454
BT - 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
Y2 - 6 June 2023 through 9 June 2023
ER -