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Distance-based rigid formation control with signed area constraints

Anderson, Brian; Sun, Zhiyong; Sugie, Toshiharu; Azuma, Shun-ichi; Sakurama, Kazunori


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]

CollectionsANU Research Publications
Date published: 2017
Type: Conference paper
Source: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
DOI: 10.1109/CDC.2017.8264071


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