Controlling a triangular formation of mobile autonomous agents

M. Cao; A. S. Morse; C. Yu; B. D.O. Anderson; S. Dasgupta

doi:10.1109/CDC.2007.4434757

Controlling a triangular formation of mobile autonomous agents

M. Cao^*, A. S. Morse, C. Yu, B. D.O. Anderson, S. Dasgupta

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

86 Citations (Scopus)

Abstract

This paper proposes a distributed control law for maintaining a triangular formation in the plane consisting of three mobile autonomous agents. It is shown that the control law can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} triangular formation to converge exponentially fast to a desired positively-oriented {resp. negatively-oriented} triangular formation. It is also shown that there is a thin set of initially collinear formations which remain collinear and may drift off to infinity as t → ∞. These findings complement and extend earlier findings cited below.

Original language	English
Title of host publication	Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3603-3608
Number of pages	6
ISBN (Print)	1424414989, 9781424414987
DOIs	https://doi.org/10.1109/CDC.2007.4434757
Publication status	Published - 2007
Event	46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States Duration: 12 Dec 2007 → 14 Dec 2007

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	46th IEEE Conference on Decision and Control 2007, CDC
Country/Territory	United States
City	New Orleans, LA
Period	12/12/07 → 14/12/07

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10.1109/CDC.2007.4434757

Cite this

Cao, M., Morse, A. S., Yu, C., Anderson, B. D. O., & Dasgupta, S. (2007). Controlling a triangular formation of mobile autonomous agents. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 3603-3608). Article 4434757 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2007.4434757

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title = "Controlling a triangular formation of mobile autonomous agents",

abstract = "This paper proposes a distributed control law for maintaining a triangular formation in the plane consisting of three mobile autonomous agents. It is shown that the control law can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} triangular formation to converge exponentially fast to a desired positively-oriented {resp. negatively-oriented} triangular formation. It is also shown that there is a thin set of initially collinear formations which remain collinear and may drift off to infinity as t → ∞. These findings complement and extend earlier findings cited below.",

author = "M. Cao and Morse, {A. S.} and C. Yu and Anderson, {B. D.O.} and S. Dasgupta",

year = "2007",

doi = "10.1109/CDC.2007.4434757",

language = "English",

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series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3603--3608",

booktitle = "Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC",

address = "United States",

note = "46th IEEE Conference on Decision and Control 2007, CDC ; Conference date: 12-12-2007 Through 14-12-2007",

}

Cao, M, Morse, AS, Yu, C, Anderson, BDO & Dasgupta, S 2007, Controlling a triangular formation of mobile autonomous agents. in Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC., 4434757, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 3603-3608, 46th IEEE Conference on Decision and Control 2007, CDC, New Orleans, LA, United States, 12/12/07. https://doi.org/10.1109/CDC.2007.4434757

Controlling a triangular formation of mobile autonomous agents. / Cao, M.; Morse, A. S.; Yu, C. et al.
Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Institute of Electrical and Electronics Engineers Inc., 2007. p. 3603-3608 4434757 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Controlling a triangular formation of mobile autonomous agents

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AU - Morse, A. S.

AU - Yu, C.

AU - Anderson, B. D.O.

AU - Dasgupta, S.

PY - 2007

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N2 - This paper proposes a distributed control law for maintaining a triangular formation in the plane consisting of three mobile autonomous agents. It is shown that the control law can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} triangular formation to converge exponentially fast to a desired positively-oriented {resp. negatively-oriented} triangular formation. It is also shown that there is a thin set of initially collinear formations which remain collinear and may drift off to infinity as t → ∞. These findings complement and extend earlier findings cited below.

AB - This paper proposes a distributed control law for maintaining a triangular formation in the plane consisting of three mobile autonomous agents. It is shown that the control law can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} triangular formation to converge exponentially fast to a desired positively-oriented {resp. negatively-oriented} triangular formation. It is also shown that there is a thin set of initially collinear formations which remain collinear and may drift off to infinity as t → ∞. These findings complement and extend earlier findings cited below.

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DO - 10.1109/CDC.2007.4434757

M3 - Conference contribution

SN - 1424414989

SN - 9781424414987

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 3603

EP - 3608

BT - Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 46th IEEE Conference on Decision and Control 2007, CDC

Y2 - 12 December 2007 through 14 December 2007

ER -

Controlling a triangular formation of mobile autonomous agents

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