Orientation noises in sensors always spontaneously occur in the distributed process of information transmission or measurement, e.g., aperture radar, ultrasonic and laser sensors. This kind of noises may result in the unalignment of any pair of agents communicated with each other. In this paper, the formation control problem is investigated, where the orientation noises are modeled by some random sequences. To realize the specified formation shape, the considered problem is transformed into a convergence problem with respect to the orientation noises. The main idea of the method in this paper is to construct several convex polytopes to analyze this convergence problem, and design some martingale sequences to deal with the effect of orientation noises. Then, a sufficient criterion is derived to ensure the specified formation shape in mean square and almost surely (a.s.), respectively. Finally, a numerical example is given to illustrate the derived result.

中文翻译：

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具有方向噪声的多智能体系统的编队控制

传感器中的定向噪声通常在信息传输或测量的分布式过程中自发出现，例如孔径雷达，超声波和激光传感器。这种噪声可能导致彼此通信的任何一对代理程序都无法对齐。本文研究了编队控制问题，其中通过一些随机序列对定向噪声进行建模。为了实现指定的形成形状，考虑的问题被转换为关于定向噪声的收敛问题。本文方法的主要思想是构造多个凸多面体来分析该收敛问题，并设计一些mar序列来处理取向噪声的影响。然后，得出一个足够的标准，以确保分别以均方和几乎确定（正）的形式指定地层形状。最后，给出了一个数值例子来说明推导的结果。