Formation control of multi-agent systems with location uncertainty

Markus Fröhle*, Henk Wymeersch, Themistoklis Charalambous, Siewi Zhang, Armin Dammann

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterScientificpeer-review


In this chapter the impact of realistic communication channels and uncertain location information on formation control of multi-agent systems aiming to achieve a common task is highlighted. First, the work is motivated by elucidating the need to incorporate realistic communication models as well as the need to model the agents’ location uncertainty. Second, it is discussed how control can be utilised to reduce the agents positioning error in cooperative systems to achieve a higher level goal, such as steering a group of agents towards a destination. Third, the impact of location uncertainty on channel gain prediction is addressed for formation control. Finally, conclusions and an outlook on future directions for controlled multi-agent systems are provided.

Original languageEnglish
Title of host publicationMulti-Technology Positioning
EditorsJari Nurmi, Henk Wymeersch, Ossi Nykänen, Elena-Simona Lohan, Gonzalo Seco-Granados
ISBN (Electronic)9783319504278
Publication statusPublished - 1 Jan 2017
MoE publication typeA3 Part of a book or another research book


  • Channel prediction
  • Cramér-Rao bound
  • Formation control
  • Gaussian processes
  • Location uncertainty
  • Multi-agent systems
  • Spatial correlation
  • Swarm navigation


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