@inproceedings{bb4823834bae413e9bb7b3fc6960cd49,
title = "Control of triangle formations with a mix of angle and distance constraints",
abstract = "A distributed control law for triangular formation control with a mixture of bearing and range measurements and relative pair-wise inter-agent angle constraints and a single range constraint is introduced. The control law is weak in the sense that two agents are free to choose their own heading within a relatively large range of values. Indeed, the agents can determine their heading independently at run-time given any criteria they desire as long as certain relaxed conditions are met. A convergence result is established that ensures the desired formation configuration is asymptotically stable. Illustrative examples are provided to demonstrate the claims.",
author = "Bishop, {Adrian N.} and Summers, {Tyler H.} and Anderson, {Brian D.O.}",
year = "2012",
doi = "10.1109/CCA.2012.6402365",
language = "English",
isbn = "9781467345033",
series = "Proceedings of the IEEE International Conference on Control Applications",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "825--830",
booktitle = "2012 IEEE International Conference on Control Applications, CCA 2012",
address = "United States",
note = "2012 IEEE International Conference on Control Applications, CCA 2012 ; Conference date: 03-10-2012 Through 05-10-2012",
}