27. Self-Localization of Formations of Autonomous Agents Using Bearing Measurements

  1. Seyed A. (Reza) Zekavat4 and
  2. R. Michael Buehrer5
  1. Iman Shames1,
  2. Barış Fidan2,
  3. Brian D. O. Anderson1 and
  4. Hatem Hmam3

Published Online: 6 SEP 2011

DOI: 10.1002/9781118104750.ch27

Handbook of Position Location: Theory, Practice, and Advances

Handbook of Position Location: Theory, Practice, and Advances

How to Cite

Shames, I., Fidan, B., Anderson, B. D. O. and Hmam, H. (2011) Self-Localization of Formations of Autonomous Agents Using Bearing Measurements, in Handbook of Position Location: Theory, Practice, and Advances (eds S. A. (. Zekavat and R. M. Buehrer), John Wiley & Sons, Inc., Hoboken, NJ, USA. doi: 10.1002/9781118104750.ch27

Editor Information

  1. 4

    Michigan Technological University, Houghton, MI, USA

  2. 5

    Virginia Tech, Blacksburg, VA, USA

Author Information

  1. 1

    The Australian National University and National ICT Australia, Canberra, Australia

  2. 2

    University of Waterloo, Waterloo, Canada

  3. 3

    Defence Science & Technology Organisation, Edinburgh, Australia

Publication History

  1. Published Online: 6 SEP 2011
  2. Published Print: 16 SEP 2011

ISBN Information

Print ISBN: 9780470943427

Online ISBN: 9781118104750

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Keywords:

  • autonomous agents;
  • four-bar linkage mechanisms;
  • localization algorithm

Summary

This chapter begins by treating a localization problem recently encountered in an operational context; that is, localizing three agents moving in a plane when the interagent distances are known, and in addition, the angle subtended at each agent by lines drawn from two landmarks at known positions is also known. It is shown as a key conclusion that there are in general a finite number greater than one of possible sets of positions for the three agents. In addition, the chapter presents the generalization of the result for more than three agents. It also presents examples to show the applicability of the methods present in the chapter. Four-bar linkage mechanisms perform a wide variety of motions with a few simple parts. Furthermore, due to their ease of design calculations, they have gained much popularity in mechanical machine design. The chapter discusses a localization algorithm based on four-bar linkage mechanisms.

Controlled Vocabulary Terms

direction-of-arrival estimation; multi-agent systems; position measurement