Sensor-based formation control using a generalised rigidity framework and passivity techniques
The research in this thesis addresses the subject of sensor-based formation control for a network of autonomous agents. The task of formation control involves the stabilisation of the agents to a desired set of relative states, with the possible additional objective of manoeuvring the agents while maintaining this formation. Although the formation control challenge has been widely studied in the literature, many existing control strategies are based on ...[Show more]
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