TY - GEN
T1 - Cohesive motion control of autonomous formations in three dimensions
AU - Bayezit, Ismail
AU - Amini, Mehdi M.
AU - Bariş, Fidan
AU - Shames, Iman
PY - 2010
Y1 - 2010
N2 - In this paper, we consider the problem of decentralized cohesive motion control of a formation of autonomous vehicles or robots moving in three dimensions, where the formation is required to move from its initial setting (defined by the positions of the agents in the formation) to a final desired setting, and during this motion, maintain its formation geometry defined by the initial distances between the agent pairs. We propose a distributed control scheme to solve this problem utilizing the notions of graph rigidity and persistence as well as techniques of virtual target tracking and smooth switching. The distributed control scheme is developed by modeling the agent kinematics as single-velocity integrator; nevertheless, extension to the cases with practical kinematic models of autonomous aerial and underwater vehicles is discussed.
AB - In this paper, we consider the problem of decentralized cohesive motion control of a formation of autonomous vehicles or robots moving in three dimensions, where the formation is required to move from its initial setting (defined by the positions of the agents in the formation) to a final desired setting, and during this motion, maintain its formation geometry defined by the initial distances between the agent pairs. We propose a distributed control scheme to solve this problem utilizing the notions of graph rigidity and persistence as well as techniques of virtual target tracking and smooth switching. The distributed control scheme is developed by modeling the agent kinematics as single-velocity integrator; nevertheless, extension to the cases with practical kinematic models of autonomous aerial and underwater vehicles is discussed.
UR - http://www.scopus.com/inward/record.url?scp=79952319897&partnerID=8YFLogxK
U2 - 10.1109/ISSNIP.2010.5706771
DO - 10.1109/ISSNIP.2010.5706771
M3 - Conference contribution
SN - 9781424471768
T3 - Proceedings of the 2010 6th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, ISSNIP 2010
SP - 205
EP - 210
BT - Proceedings of the 2010 6th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, ISSNIP 2010
T2 - 2010 6th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, ISSNIP 2010
Y2 - 7 December 2010 through 10 December 2010
ER -