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Toward robust control of minimally rigid undirected formations

Mou, Shaoshuai; Morse, A Stephen; Anderson, Brian


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]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
Source: Critical Observations in a Diagnostic Problem
DOI: 10.1109/CDC.2014.7039454


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