Multiagent Coordination with Relative Measurement via Cooperative and Individual Control

This paper addresses a coordination-control problem of multiagent systems with various types of relative measurements in a unified way. To this end, we express relative measurements in the agents' own frames using the frame transformation introduced in this paper. This transformation is expressed with a subset of semidirect products, and it describes different types of practical measurement information, such as uncertain measurements in positions and bearings. Second, a distributed controller is designed to achieve a desired configuration with ambiguity under the class of relative measurements. The designed controller combines the cooperative and individual control of agents to remove the ambiguity from the configuration. The best performance is obtained in that the ambiguity in the coordination is the smallest. Finally, we demonstrate the effectiveness of this controller through simulations and an experiment. These results show that the configuration is successful within the range of errors expected from the uncertainty of measurement.