@inproceedings{4ded752b48c04bed8ad3962b7f79914d,
title = "Stabilization of stiff formations with a mix of direction and distance constraints",
abstract = "Heterogenous formation shape control with a mix of inter-agent distance and bearing constraints involves the design of distributed control laws that ensure the formation moves such that these inter-agent constraints are achieved and maintained. This paper looks at the design of a distributed control scheme to solve the mixed constraint formation control problem with an arbitrary number of agents. A gradient control law is proposed based on the mathematical notion of a stiff formation structure and a corresponding stiff constraint matrix (which has origins in graph theory). This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only or bearing-only constraints are typically maintained. A stability analysis is sketched and a number of other technical results are given.",
author = "Bishop, {Adrian N.} and Summers, {Tyler H.} and Anderson, {Brian D.O.}",
year = "2013",
doi = "10.1109/CCA.2013.6662914",
language = "English",
isbn = "9781479915590",
series = "Proceedings of the IEEE International Conference on Control Applications",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1194--1199",
booktitle = "2013 IEEE International Conference on Control Applications, CCA 2013",
address = "United States",
note = "2013 IEEE International Conference on Control Applications, CCA 2013 ; Conference date: 28-08-2013 Through 30-08-2013",
}