Distance-based rigid formation control with signed area constraints
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Anderson, Brian; Sun, Zhiyong; Sugie, Toshiharu; Azuma, Shun-ichi; Sakurama, Kazunori
Description
This paper discusses a formation control problem in which a target formation is defined with both distance and signed area constraints. The control objective is to drive spatially distributed agents to reach a unique target rigid formation shape (up to rotation and translation) with desired inter-agent distances. We define a new potential function by incorporating both distance terms and signed area terms and derive the formation system as a gradient system from the potential function. We start...[Show more]
Collections | ANU Research Publications |
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Date published: | 2017 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/199962 |
Source: | 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 |
DOI: | 10.1109/CDC.2017.8264071 |
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01_Anderson_Distance-based_rigid_formation_2017.pdf | 145.46 kB | Adobe PDF | Request a copy |
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