Control of Directed Formations with a Leader-First Follower Structure
This paper deals with the directed distance-based control of autonomous formations. Unlike most conventional approaches, a graphical model of the formation with a minimally persistent property is used. Any minimally persistent formation can, through agents additions, be re-organized as one with a leader and a first follower. This paper focuses on leader-first-follower formations that may contain cycles. We show how to establish equations of motion, and how to construct a decentralized control...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings of the 46th IEEE Conference on Decision and Control 2007|
|01_Anderson_Control_of_Directed_Formations_2007.pdf||1.28 MB||Adobe PDF||Request a copy|
|02_Anderson_Control_of_Directed_Formations_2007.pdf||200.08 kB||Adobe PDF||Request a copy|
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