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Stabilization of Stiff Formations with a Mix of Direction and Distance Constraints

Bishop, Adrian; Summers, Tyler; Anderson, Brian


Heterogenous formation shape control with a mix of inter-agent distance and bearing constraints involves the design of distributed control laws that ensure the formation moves such that these inter-agent constraints are achieved and maintained. This paper looks at the design of a distributed control scheme to solve the mixed constraint formation control problem with an arbitrary number of agents. A gradient control law is proposed based on the mathematical notion of a stiff formation structure...[Show more]

CollectionsANU Research Publications
Date published: 2013
Type: Conference paper
Source: Proceedings of the IEEE International Conference on Control Applications, CCA 2013, Hyderabad, India, August 28-30, 2013
DOI: 10.1109/CCA.2013.6662914


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