Stabilization of Stiff Formations with a Mix of Direction and Distance Constraints
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Bishop, Adrian; Summers, Tyler; Anderson, Brian
Description
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]
dc.contributor.author | Bishop, Adrian | |
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dc.contributor.author | Summers, Tyler | |
dc.contributor.author | Anderson, Brian | |
dc.coverage.spatial | Hyderabad India | |
dc.date.accessioned | 2015-12-07T22:44:37Z | |
dc.date.created | August 28-30 2013 | |
dc.identifier.uri | http://hdl.handle.net/1885/25272 | |
dc.description.abstract | 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 and a corresponding stiff constraint matrix (which has origins in graph theory). This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only or bearing-only constraints are typically maintained. A stability analysis is sketched and a number of other technical results are given. | |
dc.publisher | Curran Associates, Inc. | |
dc.relation.ispartofseries | 2013 IEEE International Conference on Control Applications (CCA) | |
dc.source | Proceedings of the IEEE International Conference on Control Applications, CCA 2013, Hyderabad, India, August 28-30, 2013 | |
dc.source.uri | http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=6648508 | |
dc.title | Stabilization of Stiff Formations with a Mix of Direction and Distance Constraints | |
dc.type | Conference paper | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
dc.date.issued | 2013 | |
local.identifier.absfor | 090602 - Control Systems, Robotics and Automation | |
local.identifier.ariespublication | u4552802xPUB37 | |
local.type.status | Published Version | |
local.contributor.affiliation | Bishop, Adrian, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Summers, Tyler, ETH Zurich | |
local.contributor.affiliation | Anderson, Brian, College of Engineering and Computer Science, ANU | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.startpage | 1194 | |
local.bibliographicCitation.lastpage | 1199 | |
local.identifier.doi | 10.1109/CCA.2013.6662914 | |
local.identifier.absseo | 970109 - Expanding Knowledge in Engineering | |
dc.date.updated | 2015-12-07T11:27:04Z | |
local.identifier.scopusID | 2-s2.0-84902271300 | |
Collections | ANU Research Publications |
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