Local-Bearing-Based Prescribed- Time-Distributed Localization of Multiagent Systems

In this article, the local-bearing-based prescribed-time distributed orientation estimation and localization of multiagent systems (MASs) are investigated, which is more practically meaningful yet challenging than global approaches with infinite time horizon convergence. A prescribed-time orientation estimation algorithm is designed firstly to guarantee alignment between the local reference frame and the global reference frame within a specified time. The convergence time is explicitly prespecified, enabling synchronized task planning in time-sensitive applications. Building on this foundation, a distributed prescribed-time localization estimation algorithm is then designed. The distinctive advantage of this article is to permit the settling times of the orientation and localization estimation to be given in advance, merely using the local-bearing information, which provides a prerequisite for multiagent systems to perform different tasks. Finally, simulation examples and experiments are shown to verify the effectiveness of the proposed theoretical approach.