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 language | English |
---|---|
Title of host publication | Proceedings of the IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011) |
Place of Publication | Piscataway USA |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 746-752 |
Edition | Peer Reviewed |
ISBN (Print) | 9781612848006 |
DOIs | |
Publication status | Published - 2011 |
Event | 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011) - Orlando USA Duration: 1 Jan 2011 → … |
Conference
Conference | 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011) |
---|---|
Period | 1/01/11 → … |
Other | December 12-15 2011 |