Distance-based rigid formation control with signed area constraints
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|
|Source:||2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017|
|01_Anderson_Distance-based_rigid_formation_2017.pdf||145.46 kB||Adobe PDF||Request a copy|
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