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Spherical formation of regular tetrahedra
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. Harbin Institute of Technology, China.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2017 (English)In: 2017 36th Chinese Control Conference, CCC, IEEE Computer Society, 2017, 1317-1322 p., 8027533Conference paper (Refereed)
Abstract [en]

In this paper, we study the problem of tracking and encircling a moving target by agents in the 3-dimensional space. Specifically, a group of agents are driven to a regular tetrahedron formation on a spherical surface and simultaneously keep the center of this spherical formation coinciding with the target to be tracked. In the proposed method, to avoid the singularity caused by spherical parameterisations in control, we directly consider the spherical formation in space S2. Besides, the protocol proposed does not contain any information of the desired formation beforehand. Rather the constructed formation pattern is attributed to the properties of space S2 and the inter-agent topology.

Place, publisher, year, edition, pages
IEEE Computer Society, 2017. 1317-1322 p., 8027533
Series
Chinese Control Conference, CCC, ISSN 1934-1768
Keyword [en]
encircling control, formation control, Multi-agent systems, nonlinear feedback control
National Category
Computer Systems
Identifiers
URN: urn:nbn:se:kth:diva-217587DOI: 10.23919/ChiCC.2017.8027533Scopus ID: 2-s2.0-85032226486ISBN: 9789881563934 OAI: oai:DiVA.org:kth-217587DiVA: diva2:1157118
Conference
36th Chinese Control Conference, CCC 2017, Dalian, China, 26 July 2017 through 28 July 2017
Note

QC 20171115

Available from: 2017-11-15 Created: 2017-11-15 Last updated: 2017-11-15Bibliographically approved

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  • nn-NB
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  • Other locale
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Output format
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