Toward robust control of minimally rigid undirected formations
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Mou, Shaoshuai; Morse, A Stephen; Anderson, Brian
Description
Gradient control is a method based on potential functions to locally stabilize rigid undirected formations. However, when there is a mismatch in two neighboring agents' understandings of what the target distance between them is supposed to be, such a potential-based control will typically cause a rigid undirected formation to rotate in the plane. This paper investigates an appropriate modification of the gradient control, which eliminates this rotation and locally stabilizes the triangular...[Show more]
Collections | ANU Research Publications |
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Date published: | 2014 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/20753 |
Source: | Critical Observations in a Diagnostic Problem |
DOI: | 10.1109/CDC.2014.7039454 |
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01_Mou_Toward_robust_control_of_2014.pdf | 226.92 kB | Adobe PDF | Request a copy |
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