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Controlling Four Agent Formations

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

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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]

dc.contributor.authorAnderson, Brian
dc.contributor.authorYu, Changbin (Brad)
dc.contributor.authorDasgupta, Soura
dc.contributor.authorSummers, Tyler
dc.coverage.spatialAnnecy France
dc.date.accessioned2015-12-10T22:53:35Z
dc.date.createdSeptember 13-14 2010
dc.identifier.urihttp://hdl.handle.net/1885/59413
dc.description.abstractThis 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 they are necessarily unstable.
dc.publisherInternational Federation of Automatic Control (IFAC)
dc.relation.ispartofseriesIFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys 2010)
dc.sourceIFAC Workshop on Distributed Estimation and Control in Networked Systems 2010 Proceedings
dc.subjectKeywords: Complete graphs; Control laws; Equilibrium formation; Four-point; Shape control; Control theory
dc.titleControlling Four Agent Formations
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2010
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4334215xPUB489
local.type.statusPublished Version
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.contributor.affiliationYu, Changbin (Brad), College of Engineering and Computer Science, ANU
local.contributor.affiliationDasgupta, Soura, University of Iowa
local.contributor.affiliationSummers, Tyler, University of Texas
local.description.embargo2037-12-31
local.bibliographicCitation.startpage139
local.bibliographicCitation.lastpage144
local.identifier.doi10.3182/20100913-2-FR-4014.00043
local.identifier.absseo810104 - Emerging Defence Technologies
dc.date.updated2016-02-24T11:01:21Z
local.identifier.scopusID2-s2.0-80051936257
CollectionsANU Research Publications

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