Stabilization of Rigid Formations with Direction-Only Constraints

Adrian Bishop, Iman Shames, Brian Anderson

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    70 Citations (Scopus)

    Abstract

    Direction-based formation shape control for a collection of autonomous agents involves the design of distributed control laws that ensure the formation moves so that certain relative bearing constraints achieve, and maintain, some desired value. This paper looks at the design of a distributed control scheme to solve the direction-based formation shape control problem. A gradient control law is proposed based on the notion of bearing-only constrained graph rigidity and parallel drawings. This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only constraints are typically maintained. A stability analysis is sketched and a number of illustrative examples are also given.
    Original languageEnglish
    Title of host publicationProceedings of the IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)
    Place of PublicationPiscataway USA
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages746-752
    EditionPeer Reviewed
    ISBN (Print)9781612848006
    DOIs
    Publication statusPublished - 2011
    Event50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011) - Orlando USA
    Duration: 1 Jan 2011 → …

    Conference

    Conference50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)
    Period1/01/11 → …
    OtherDecember 12-15 2011

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