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Distributed control of triangular formations with angle-only constraints
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1170-7162
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
Abstract [en]

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.
Keyword [en]
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
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-19311DOI: 10.1016/j.sysconle.2009.12.010ISI: 000275583500008Scopus ID: 2-s2.0-75249102771OAI: oai:DiVA.org:kth-19311DiVA: diva2:337358
Note
QC 20100525 QC 20111212Available from: 2010-08-05 Created: 2010-08-05 Last updated: 2017-12-12Bibliographically approved

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Jensfelt, Patric

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  • apa
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  • nn-NB
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Output format
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