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Controlling Four Agent Formations

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


This paper considers formation shape control of a team of four point agents, for the most part in the plane. Control laws based on specified interagent distances are used. For a complete graph, specification of all interagent distances determines the formation shape uniquely. Krick, Broucke and Francis showed that for a now almost standard control law, there may exist equilibrium formation shapes with incorrect interagent distances. This paper studies such equilibria, shows that in some cases...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Conference paper
Source: IFAC Workshop on Distributed Estimation and Control in Networked Systems 2010 Proceedings
DOI: 10.3182/20100913-2-FR-4014.00043


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