Formation movements in minimally rigid formation control with mismatched mutual distances

Zhiyong Sun; Shaoshuai Mou; Brian Anderson; A Stephen Morse

doi:10.1109/CDC.2014.7040354

Formation movements in minimally rigid formation control with mismatched mutual distances

Zhiyong Sun, Shaoshuai Mou, Brian Anderson, A Stephen Morse

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

26 Citations (Scopus)

Abstract

When a gradient descent control law is employed for stabilizing undirected minimally rigid formations, mismatched desired distances between neighboring agent pairs will cause additional motions of the whole formation. By reviewing and extending the results in [1], [2], we show that in general rotational motions and helical motions will occur for 2-D formations and 3-D formations, respectively. We then consider the problem of how to compute the formulas for the motions caused by constant mismatches. A novel idea based on the angular-momentum concept in rigid body dynamics is proposed for deriving the formation formulas, e.g., angular velocity, rotational radius, etc. in terms of the distance mismatch terms. This has implications on steering and controlling rigid formation motions.

Original language	English
Title of host publication	53rd IEEE Conference on Decision and Control,CDC 2014
Place of Publication	Piscataway, New Jersey, US
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6161-6166
Number of pages	6
Edition	Peer Reviewed
ISBN (Electronic)	9781479977468
ISBN (Print)	9781479977451
DOIs	https://doi.org/10.1109/CDC.2014.7040354
Publication status	Published - 2014
Event	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States Duration: 15 Dec 2014 → 17 Dec 2014

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Number	February
Volume	2015-February
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Country/Territory	United States
City	Los Angeles
Period	15/12/14 → 17/12/14

Access to Document

10.1109/CDC.2014.7040354

Cite this

Sun, Z., Mou, S., Anderson, B., & Morse, A. S. (2014). Formation movements in minimally rigid formation control with mismatched mutual distances. In 53rd IEEE Conference on Decision and Control,CDC 2014 (Peer Reviewed ed., pp. 6161-6166). Article 7040354 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2014.7040354

Sun, Zhiyong ; Mou, Shaoshuai ; Anderson, Brian et al. / Formation movements in minimally rigid formation control with mismatched mutual distances. 53rd IEEE Conference on Decision and Control,CDC 2014. Peer Reviewed. ed. Piscataway, New Jersey, US : Institute of Electrical and Electronics Engineers Inc., 2014. pp. 6161-6166 (Proceedings of the IEEE Conference on Decision and Control; February).

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title = "Formation movements in minimally rigid formation control with mismatched mutual distances",

abstract = "When a gradient descent control law is employed for stabilizing undirected minimally rigid formations, mismatched desired distances between neighboring agent pairs will cause additional motions of the whole formation. By reviewing and extending the results in [1], [2], we show that in general rotational motions and helical motions will occur for 2-D formations and 3-D formations, respectively. We then consider the problem of how to compute the formulas for the motions caused by constant mismatches. A novel idea based on the angular-momentum concept in rigid body dynamics is proposed for deriving the formation formulas, e.g., angular velocity, rotational radius, etc. in terms of the distance mismatch terms. This has implications on steering and controlling rigid formation motions.",

author = "Zhiyong Sun and Shaoshuai Mou and Brian Anderson and Morse, {A Stephen}",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 ; Conference date: 15-12-2014 Through 17-12-2014",

year = "2014",

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language = "English",

isbn = "9781479977451",

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

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

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Sun, Z, Mou, S, Anderson, B & Morse, AS 2014, Formation movements in minimally rigid formation control with mismatched mutual distances. in 53rd IEEE Conference on Decision and Control,CDC 2014. Peer Reviewed edn, 7040354, Proceedings of the IEEE Conference on Decision and Control, no. February, vol. 2015-February, Institute of Electrical and Electronics Engineers Inc., Piscataway, New Jersey, US, pp. 6161-6166, 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 15/12/14. https://doi.org/10.1109/CDC.2014.7040354

Formation movements in minimally rigid formation control with mismatched mutual distances. / Sun, Zhiyong; Mou, Shaoshuai; Anderson, Brian et al.
53rd IEEE Conference on Decision and Control,CDC 2014. Peer Reviewed. ed. Piscataway, New Jersey, US: Institute of Electrical and Electronics Engineers Inc., 2014. p. 6161-6166 7040354 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February).

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

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T1 - Formation movements in minimally rigid formation control with mismatched mutual distances

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AU - Anderson, Brian

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N2 - When a gradient descent control law is employed for stabilizing undirected minimally rigid formations, mismatched desired distances between neighboring agent pairs will cause additional motions of the whole formation. By reviewing and extending the results in [1], [2], we show that in general rotational motions and helical motions will occur for 2-D formations and 3-D formations, respectively. We then consider the problem of how to compute the formulas for the motions caused by constant mismatches. A novel idea based on the angular-momentum concept in rigid body dynamics is proposed for deriving the formation formulas, e.g., angular velocity, rotational radius, etc. in terms of the distance mismatch terms. This has implications on steering and controlling rigid formation motions.

AB - When a gradient descent control law is employed for stabilizing undirected minimally rigid formations, mismatched desired distances between neighboring agent pairs will cause additional motions of the whole formation. By reviewing and extending the results in [1], [2], we show that in general rotational motions and helical motions will occur for 2-D formations and 3-D formations, respectively. We then consider the problem of how to compute the formulas for the motions caused by constant mismatches. A novel idea based on the angular-momentum concept in rigid body dynamics is proposed for deriving the formation formulas, e.g., angular velocity, rotational radius, etc. in terms of the distance mismatch terms. This has implications on steering and controlling rigid formation motions.

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DO - 10.1109/CDC.2014.7040354

M3 - Conference contribution

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BT - 53rd IEEE Conference on Decision and Control,CDC 2014

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Sun Z, Mou S, Anderson B, Morse AS. Formation movements in minimally rigid formation control with mismatched mutual distances. In 53rd IEEE Conference on Decision and Control,CDC 2014. Peer Reviewed ed. Piscataway, New Jersey, US: Institute of Electrical and Electronics Engineers Inc. 2014. p. 6161-6166. 7040354. (Proceedings of the IEEE Conference on Decision and Control; February). doi: 10.1109/CDC.2014.7040354

Formation movements in minimally rigid formation control with mismatched mutual distances

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