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Maintaining a directed, triangular formation of mobile autonomous agents

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


This paper analyzes a class of distributed control laws which encompasses and generalizes three previously considered types of control laws for maintaining a triangular formation in the plane consisting of three point-modeled, mobile autonomous agents. It is shown that the control laws considered can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} three agent formation to converge exponentially fast to a desired positively-oriented {resp. negativelyoriented}...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Journal article
Source: Communications in Information and Systems
DOI: 10.4310/CIS.2011.v11.n1.a1


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