Student research opportunities

Control of formation shape using bearing only information

Project Code: CECS_836

This project is available at the following levels:
Engn R&D, Honours, Summer Scholar, Masters

Keywords:

Formation shape control, multiagent systems,

Supervisor:

Professor Brian Anderson

Outline:

The goal of this work is to develop a 'primitive' involve a scheme for two agents to mutually localize each other's position. The overall use of such a primitive would be to achieve shape control of a formation. COnsider two point agents, 1 and 2. Each can measure the bearing of the other in its own coordinate system, but not the distance. Each agent is moving on a circle with radius, direction and angular velocity known only to it. Localization of agent 2 by agent 1 would require agent 1 to process bearing information so as to learn the position of the circle centre and the circle radius applying to agent 2, as well as the angular velocity of agent 2. Extension tasks would be to consider other forms of motion that could be employed by the agents, and ensuring that the two agents moved to bring the distance between the centres of the two circles to a nominated value.

Goals of this project

Coauthor a paper and prepare a presentation for Defence Science and Technology Organization.

Requirements/Prerequisites

Student must be very able, and able to handle mathematics of differential equations and have an understanding of some aspects of modern control

Student Gain

Exp[erience on a real reserach problem of interest to end user, from research itself through to promulgation of results.

Background Literature

Supplied after discussion

Contact: