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Distributed Control of Triangular Sensor Formations with Angle-Only Constraints
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
2009 (English)In: 2009 INTERNATIONAL CONFERENCE ON INTELLIGENT SENSORS, SENSOR NETWORKS AND INFORMATION PROCESSING (ISSNIP 2009), NEW YORK: IEEE , 2009, 121-126 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper considers the coupled 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 its neighbors. The problem considered in this paper differs from similar problems in the literature since no inter-agent distance measurements are employed and the desired formation is specified entirely by the internal triangle angles. Each agent's control law is distributed and based only on its locally measured bearings. A convergence result is established which guarantees global convergence of the formation to the desired formation shape.

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2009. 121-126 p.
Keyword [en]
Angle constraints, bearing-only measurements, distributed control, formation control, multi-agent systems
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-29187DOI: 10.1109/ISSNIP.2009.5416849ISI: 000283472800021Scopus ID: 2-s2.0-77950956661ISBN: 978-1-4244-3517-3 (print)OAI: oai:DiVA.org:kth-29187DiVA: diva2:393954
Conference
2009 International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2009), Melbourne, AUSTRALIA, DEC 07-10, 2009
Note
QC 20110201Available from: 2011-02-01 Created: 2011-01-27 Last updated: 2012-01-10Bibliographically approved

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CiteExportLink to record
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Citation style
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