네트워크화된 다개체 시스템에서 상대적 위치정보를 활용한 자체 참조 프레임 추정

초록

This paper studies the multi-agent system on the sphere. Each agent has a local reference frame whose orientation is assumed to be unknown. Based on the relative position measurement, we calculate the relative orientation between two local reference frames. Then, the relative orientation is exploited to estimate the orientation of local reference frame. By using the proposed algorithm, we show that the estimated value converges to the orientation of local reference frame with a common error.