@inproceedings{78517fb664254a939bb91e71a3b220bf,
title = "Coordinated Motion Planning of Heterogeneous Multi-Agent Systems",
abstract = "In this paper, the coordinated motion planning problem is investigated for a class of heterogeneous multi-agent systems. Some agents in the system called observers are equipped with onboard sensors while the other agents without sensors are called chasers. The chaser agents aim to captures moving targets under the guidance of the observer agents while the observer agents maintain nice measurements of the targets. The relative motion and measurement models are established. The coordinated motion planning problem is formulated as an optimization problem whose objective is to minimize the lower bound of the estimation variance determined by the Cramer-Rao Lower Bound. The coordinated motion planning control is devised both for the observer agents and the chaser agents based on predictive control. The proposed methods are also validated by simulation experiments.",
keywords = "Cramer-Rao Lower Bound, Heterogeneous Multi-agent Systems, Motion Planning, Predictive Control",
author = "Xinran Zhang and Fenghua He and Zhaochen Lin and Chao Jiang",
note = "Publisher Copyright: {\textcopyright} 2025 Technical Committee on Control Theory, Chinese Association of Automation.; 44th Chinese Control Conference, CCC 2025 ; Conference date: 28-07-2025 Through 30-07-2025",
year = "2025",
doi = "10.23919/CCC64809.2025.11179105",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "5664--5670",
editor = "Jian Sun and Hongpeng Yin",
booktitle = "Proceedings of the 44th Chinese Control Conference, CCC 2025",
address = "美国",
}