Distributed Orientation Estimate of Single-integrator Multi-agent Systems with Measurement Noises in Time-varying Networks

This note investigates the distributed orientation estimate problem in the plane for single-integrator multi-agent systems with measurement noises in time-varying networks. A distributed algorithm for all agents’ orientation estimate is designed by combining the stochastic approximation type gain design method and the unbiased estimate strategy. We give the rigorous proof that all agents will asymptotically share a same reference coordinate frame if and only if the magnitude of the measurement noise of the bearing belongs to [0,π/4) when the time-varying communication network together with the corresponding time-varying bearing sensing network are uniformly strongly connected. We finally give a numerical simulation to verify the proposed algorithm and the conclusion.