Journal
ENTROPY
Volume 20, Issue 8, Pages -Publisher
MDPI
DOI: 10.3390/e20080618
Keywords
formation error; Bayes risk; mutual information; lower bound
Categories
Funding
- National Natural Science Foundation of China [61771283]
- China Major State Basic Research Development Program [2012CB316100(2)]
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Multi-robot formation control makes prerequisites for a team of robots to execute complex tasks cooperatively, which has been widely applied in both civilian and military scenarios. However, the limited precision of sensors and controllers may inevitably cause position errors in the finally achieved formation, which will affect the tasks undertaken. In this paper, the formation error is analyzed from the viewpoint of information theory. The desired position and the actually achieved position are viewed as two random variables. By calculating the mutual information between them, a lower bound of the formation error is derived. The results provide insights for the estimation of possible formation errors in the multi-robot system, which can assist designers to choose sensors and controllers with proper precision.
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