Displacement estimation by range measurements and application to formation control
Myoung‐Chul Park, Hyo‐Sung Ahn · 2015
In this paper, we propose a relative-position estimation method using range measurements. The estimation method is used for mobile agents to obtain the estimates of relative position vectors to their neighbors. Using the estimates, the agents can implement displacement-based control to achieve the desired formation shape. To demonstrate our results, we provide simulation results and experimental results with twowheeled mobile robots.