Swarming Behaviors

Swarming behaviors is focused on developing algorithms for distributed unanchored (relative) localization based on inter-agent RF ranging and angle of arrival (AoA)/ pointing measurements.  Of particular interest are faster non-iterative schemes based on multi-dimensional scaling (MDS).  A distributed greedy methodology will direct each agent to localize to a globally rigid subset of nearest neighbors and then additively subsume adjacent clusters as far as possible.  Intermediary coordinate transformation protocols ensure that agents rapidly arrive at a common coordinate assignment.

Principal Investigator(s): 
Frank Fresconi