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Circular Formation Control of Multiple Unicycle-Type Agents With Nonidentical Constant Speeds

Sun, Zhiyong; Garcia de Marina, Hector; Seyboth, Georg S.; Anderson, Brian; Yu, Changbin(Brad)


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]

CollectionsANU Research Publications
Date published: 2019
Type: Journal article
Source: IEEE Transactions on Control Systems Technology
DOI: 10.1109/TCST.2017.2763938


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