Distributed Localization for Dynamic Multiagent Systems With Randomly Varying Trajectory Lengths

This article considered the persistent real-time localization problem of dynamic multiagent systems with repetitive running characteristics under directed graph. The trajectory length of the agent is randomly varying caused by system constraints and external environment. A novel distributed iterative learning localization estimation method with full historical average data compensation is designed. The average value of all available historical data in the previous operations is used to compensate the incomplete trajectory. The designed diagnosis mechanism and search mechanism are used to determine whether the agent has stopped running and to screen out the available historical data. In order to reduce the computation burden, an improved distributed localization algorithm with receding horizon historical average data compensation is proposed. The asymptotic convergence of the estimation algorithms in the sense of mathematical expectation is derived through the rigorous analysis. Meanwhile, the influence of the incomplete repetitive trajectory of the agent on estimation error and convergence rate is also analyzed. The experimental result based on QBot-2e robot platform verifies the realizability of the proposed method.