Distributed control of triangular formations with angle-only constraints
2010 (English)In: Systems & control letters (Print), ISSN 0167-6911, E-ISSN 1872-7956, Vol. 59, no 2, 147-154 p.Article in journal (Refereed) Published
This paper considers the coupled, bearing-only formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming that the desired angular separation of each agent relative to the group is feasible, a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally measured bearings. A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape.
Place, publisher, year, edition, pages
AMSTERDAM: Elsevier, 2010. Vol. 59, no 2, 147-154 p.
Angle constraints, Bearing-only measurements, Distributed control, Formation control, Multi-agent systems, mobile autonomous agents, collective motion, sensor networks, systems, performance, persistence, algorithms, stability, flocking, rigidity
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-19311DOI: 10.1016/j.sysconle.2009.12.010ISI: 000275583500008ScopusID: 2-s2.0-75249102771OAI: oai:DiVA.org:kth-19311DiVA: diva2:337358
QC 20100525 QC 201112122010-08-052010-08-052011-12-12Bibliographically approved