多智能体系统的分布式协同定位方法研究综述

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中图分类号：TP212.9;TP242.6 文献标识码：A

Abstract：Distributed cooperative localization is a key process in many cooperative tasks for multiagent systems. Distributed cooperative localization aims to enable each agent to determine their own locations by using the available locations of anchors， the relative measurements to their neighbors，and the distributed network communication. This paper summarizes the advances in the distributed cooperative localization for multi-agent systems. First，according to the types of relative measurements，the distributed cooperative localization methods are classified into three types，i.e.，distance-based，bearing-based，and mixed-measurement-based distributed cooperative localization methods. Then，by characterizing the constraint relationship between the measurement and the agents’locations，the design schemes of the above distributed cooperative localization methods are elaborated in detail，and the advantages and disadvantages of the methods are compared. Moreover， this paper introduces the research status of reliable distributed cooperative localization methods for multi-agent systems with malicious measurements. Finally，the ongoing challenges in distributed cooperative localization are anticipated，and the potential directions for resolution are proposed.

Keywords： multi-agent system; distributed cooperative localization; measurement;reliability

0 引言

随着自动控制、计算机、人工智能等领域的飞速发展，实际生产制造与理论研究中所聚焦的对象逐渐从简单的、独立的单点系统过渡到智能的、协同的多元系统。（剩余27368字）