Leader-follower bearing-based distributed pose estimation for multi-vehicle networks
Mouaad Boughellaba, Abdelhamid Tayebi · 2022 IEEE 61st Conference on Decision and Control (CDC) · 2022
In this paper, we consider the problem of distributed pose estimation of multi-vehicle networks, with a leader-follower structure evolving on $SO(3) \times {\mathbb{R}^3},$ relying on individual linear and angular velocity measurements as well as local inter-vehicle time-varying bearing measurements. We propose a cascaded nonlinear distributed pose estimation scheme where the estimated attitude obtained from an exponentially stable observer is fed to an input-to-state stable position estimation scheme, leading to an overall pose estimation scheme enjoying an exponential stability property.Numerical simulation results are presented to illustrate the performance of the proposed estimation scheme.