Circular Formation Control of Multiple Unicycle-Type Agents With Nonidentical Constant Speeds
This paper discusses the problem of controlling formation shapes for a group of nonholonomic unicycle-type agents with constant speeds. The control input is designed to steer their orientations and the aim is to achieve a desired formation configuration for all the agents subject to constant-speed constraints. The circular motion center is adopted as a virtual position for each agent to define the desired formation shape. We consider several different formation design approaches based on...[Show more]
|Collections||ANU Research Publications|
|Source:||IEEE Transactions on Control Systems Technology|
|01_Sun_Circular_Formation_Control_of_2019.pdf||2.54 MB||Adobe PDF||Request a copy|
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