TY - GEN
T1 - Formation stabilization with cone-like sensing field
AU - Wang, Xiangke
AU - Wu, Xiaoming
AU - Yu, Changbin
PY - 2011
Y1 - 2011
N2 - While most existing literature assumes agents in formation control are with no sensing limitations or with 360-degree sensing fields, we consider each agent in formation stabilization problem is with a cone-like sensing filed for the leader-follower formation in three-dimensional space. We discuss the strategies for the agent with cone-like sensing filed to follow one leader, two leaders and three leaders, respectively. And correspondingly the related control laws are proposed to achieve the formation. Finally, simulation results, including an animation, about four-agent formation with cone-like sensing field demonstrate the effectiveness of the strategies and the proposed control laws.
AB - While most existing literature assumes agents in formation control are with no sensing limitations or with 360-degree sensing fields, we consider each agent in formation stabilization problem is with a cone-like sensing filed for the leader-follower formation in three-dimensional space. We discuss the strategies for the agent with cone-like sensing filed to follow one leader, two leaders and three leaders, respectively. And correspondingly the related control laws are proposed to achieve the formation. Finally, simulation results, including an animation, about four-agent formation with cone-like sensing field demonstrate the effectiveness of the strategies and the proposed control laws.
KW - Cone-like Sensing Field
KW - Formation Stabilization
KW - Leader-Follower
KW - Multiple Agents
UR - http://www.scopus.com/inward/record.url?scp=80053071731&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9789881725592
T3 - Proceedings of the 30th Chinese Control Conference, CCC 2011
SP - 6055
EP - 6060
BT - Proceedings of the 30th Chinese Control Conference, CCC 2011
T2 - 30th Chinese Control Conference, CCC 2011
Y2 - 22 July 2011 through 24 July 2011
ER -