论文标题
领导者网络的仅方向定向对齐
Direction-only Orientation Alignment of Leader-Follower Networks
论文作者
论文摘要
当一组代理团队（例如无人驾驶/水下车辆）在$ 3 $维空间中运行时，他们为追求合作任务而进行的协调行动通常要求所有代理人共享共同的坐标系或知道其在全球坐标框架方面的坐标轴的方向。给定最初不对齐的坐标轴，这项工作提出了一种仅使用Agen-Agenter定向向量的多种指示剂的定向对齐方案，以及对前两个试剂的一个或多个地标的方向测量。方向向量在代理的身体固定坐标框架中表示，并且所提出的对齐协议仅与方向向量一起工作，而无需所有试剂或构造代理的方向矩阵的全局坐标框架。根据提议的对齐方案，代理的方向几乎在全球和渐近地汇聚到领导者的方向。最后，还进行了数值模拟来说明所提出方法的有效性。
When a team of agents, such as unmanned aerial/underwater vehicles, are operating in $3$-dimensional space, their coordinated action in pursuit of a cooperative task generally requires all agents to either share a common coordinate system or know the orientations of their coordinate axes with regard to the global coordinate frame. Given the coordinate axes that are initially unaligned, this work proposes an orientation alignment scheme for multiple agents with a type of leader-following graph typologies using only inter-agent directional vectors, and the direction measurements to one or more landmarks of the first two agents. The directional vectors are expressed in the agents' body-fixed coordinate frames and the proposed alignment protocol works exclusively with the directional vectors without the need of a global coordinate frame common to all agents or the construction of the agents' orientation matrices. Under the proposed alignment scheme, the orientations of the agents converge almost globally and asymptotically to the orientation of the leader agent. Finally, numerical simulations are also given to illustrate the effectiveness of the proposed method.
