TY - GEN
T1 - Controlling four agent formations
AU - Anderson, Brian D.O.
AU - Yu, Changbin
AU - Dasgupta, Soura
AU - Summers, Tyler H.
PY - 2010
Y1 - 2010
N2 - This paper considers formation shape control of a team of four point agents, for the most part in the plane. Control laws based on specified interagent distances are used. For a complete graph, specification of all interagent distances determines the formation shape uniquely. Krick, Broucke and Francis showed that for a now almost standard control law, there may exist equilibrium formation shapes with incorrect interagent distances. This paper studies such equilibria, shows that in some cases they are necessarily unstable.
AB - This paper considers formation shape control of a team of four point agents, for the most part in the plane. Control laws based on specified interagent distances are used. For a complete graph, specification of all interagent distances determines the formation shape uniquely. Krick, Broucke and Francis showed that for a now almost standard control law, there may exist equilibrium formation shapes with incorrect interagent distances. This paper studies such equilibria, shows that in some cases they are necessarily unstable.
UR - http://www.scopus.com/inward/record.url?scp=80051936257&partnerID=8YFLogxK
U2 - 10.3182/20100913-2-FR-4014.00043
DO - 10.3182/20100913-2-FR-4014.00043
M3 - Conference contribution
SN - 9783902661821
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 139
EP - 144
BT - 2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys'10
PB - IFAC Secretariat
ER -