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Controlling a Triangular Formation of Mobile Autonomous Agents

Cao, Ming; Morse, A Stephen; Yu, Changbin (Brad); Anderson, Brian; Dasgupta, Soura


This paper proposes a distributed control law for maintaining a triangular formation in the plane consisting of three mobile autonomous agents. It is shown that the control law can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} triangular formation to converge exponentially fast to a desired positively-oriented {resp. negatively-oriented} triangular formation. It is also shown that there is a thin set of initially collinear formations which remain collinear...[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.2007.4434757


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