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Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-8696-1536
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-7309-8086
2017 (English)In: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 411-416Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of position-and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a 3D workspace with obstacles. More specifically, we design a decentralized control protocol such that each agent achieves a predefined geometric formation with its initial neighbors, while using local information based on a limited sensing radius. The latter implies that the proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance as well as collision avoidance with the obstacles and the boundary of the workspace. Finally, simulation results verify the validity of the proposed framework.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 411-416
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-223872DOI: 10.1109/CDC.2017.8263699ISI: 000424696900066Scopus ID: 2-s2.0-85046119833ISBN: 978-1-5090-2873-3 OAI: oai:DiVA.org:kth-223872DiVA, id: diva2:1187672
Conference
IEEE 56th Annual Conference on Decision and Control (CDC), DEC 12-15, 2017, Melbourne, Australia
Funder
Swedish Research CouncilSwedish Foundation for Strategic Research Knut and Alice Wallenberg FoundationEU, Horizon 2020, 644128; 731869
Note

QC 20180305

Available from: 2018-03-05 Created: 2018-03-05 Last updated: 2018-06-04Bibliographically approved

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Nikou, AlexandrosDimarogonas, Dimos V.

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Verginis, Christos K.Nikou, AlexandrosDimarogonas, Dimos V.
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