Toward robust control of minimally rigid undirected formations

Shaoshuai Mou, A Stephen Morse, Brian Anderson

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

    13 Citations (Scopus)

    Abstract

    Gradient control is a method based on potential functions to locally stabilize rigid undirected formations. However, when there is a mismatch in two neighboring agents' understandings of what the target distance between them is supposed to be, such a potential-based control will typically cause a rigid undirected formation to rotate in the plane. This paper investigates an appropriate modification of the gradient control, which eliminates this rotation and locally stabilizes the triangular formation with no restriction on the number of mismatches and any minimally rigid formation consisting of four or more agents with only one mismatch.

    Original languageEnglish
    Title of host publication53rd IEEE Conference on Decision and Control,CDC 2014
    Place of PublicationPiscataway, New Jersey, US
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages643-647
    Number of pages5
    EditionPeer Reviewed
    ISBN (Electronic)9781479977468
    ISBN (Print)9781479977451
    DOIs
    Publication statusPublished - 2014
    Event53rd IEEE Conference on Decision and Control - Los Angeles, USA, United States
    Duration: 1 Jan 2014 → …

    Publication series

    NameProceedings of the IEEE Conference on Decision and Control
    NumberFebruary
    Volume2015-February
    ISSN (Print)0743-1546
    ISSN (Electronic)2576-2370

    Conference

    Conference53rd IEEE Conference on Decision and Control
    Country/TerritoryUnited States
    Period1/01/14 → …
    OtherDecember 15-17 2014

    Fingerprint

    Dive into the research topics of 'Toward robust control of minimally rigid undirected formations'. Together they form a unique fingerprint.

    Cite this