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Control of Directed Formations with a Leader-First Follower Structure

Anderson, Brian; Dasgupta, Soura; Yu, Changbin (Brad)


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]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
Source: Proceedings of the 46th IEEE Conference on Decision and Control 2007
DOI: 10.1109/CDC.2007.4434410


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