Bearing-based distributed pose estimation for multi-agent networks

Abstract

In this paper, we address the distributed pose estimation problem for multi-agent systems, where the agents have unknown static positions and time-varying orientations. The interaction graph is assumed to be directed and acyclic with two leaders that have access to their position and orientation. We propose a nonlinear distributed pose estimation scheme relying on individual angular velocity measurements and local relative (time-varying) bearing measurements. The proposed estimation scheme consists of two cascaded distributed observers, an almost globally asymptotically stable (AGAS) attitude observer and an input-to-state stable (ISS) position observer, leading to an overall AGAS distributed localization scheme. Numerical simulation results are presented to illustrate the performance of our proposed distributed pose estimation scheme.

Tasks

Reproductions