Optimal condition analysis of target localization using multi-agents with uncertain positions  

作　　者：Yi Hou Ning Hao Fenghua He Chen Xie Yu Yao 

机构地区：[1]School of Aerospace,Harbin Institute of Technology,Harbin,150001,Heilongjiang,China

出　　处：《Control Theory and Technology》2025年第1期131-144,共14页控制理论与技术(英文版)

摘　　要：This paper delves into the problem of optimal placement conditions for a group of agents collaboratively localizing a target using range-only or bearing-only measurements.The challenge in this study stems from the uncertainty associated with the positions of the agents,which may experience drift or disturbances during the target localization process.Initially,we derive the Cramer-Rao lower bound(CRLB)of the target position as the primary analytical metric.Subsequently,we establish the necessary and sufficient conditions for the optimal placement of agents.Based on these conditions,we analyze the maximal allowable agent position error for an expected mean squared error(MSE),providing valuable guidance for the selection of agent positioning sensors.The analytical findings are further validated through simulation experiments.

关 键 词：Cramer-Rao lower bound(CRLB) Target localization Uncertain sensor position Multi-agent systems 

分 类 号：TP1[自动化与计算机技术—控制理论与控制工程]