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Distributed dynamic state estimation with flocking mobile agents

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  • Xie, Duosi
  • Zhang, Shouxu
  • Xie, Jianquan

Abstract

In this paper, a distributed dynamic state estimation problem with networked flocking mobile agents to actively sense the target, is studied. By combining the distributed estimation strategy proposed in [1] and the well known flocking control algorithm, an innovative algorithm is derived. In the proposed algorithm, each agent only uses the local information, estimates not only its own state, but also the target state. On the top of those, each agent designs its own control algorithm, and eventually physically track the target in the sense that: (i) it keeps the target in its sensing range while avoid collision with the target or any other agent; (ii) it moves along with the target to maintain a better collective observability. The whole group of agents eventually flocks with the target. With the communication topology becoming complete and each agent seeing the target, the centralized Kalman filter solution is analytically shown to be recovered. Simulations are used to illustrate the proposed algorithm.

Suggested Citation

  • Xie, Duosi & Zhang, Shouxu & Xie, Jianquan, 2018. "Distributed dynamic state estimation with flocking mobile agents," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 509(C), pages 1195-1206.
    • Handle: RePEc:eee:phsmap:v:509:y:2018:i:c:p:1195-1206
    DOI: 10.1016/j.physa.2018.05.146
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    References listed on IDEAS

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    1. Li, Li, 2015. "Bifurcation and chaos in a discrete physiological control system," Applied Mathematics and Computation, Elsevier, vol. 252(C), pages 397-404.
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