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Control of Minimally Persistent Leader-Remote-Follower and Coleader Formations in the Plane

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


This paper solves an $n$ -agent formation shape control problem in the plane. The objective is to design decentralized control laws so that the agents cooperatively restore a prescribed formation shape in the presence of small perturbations from the prescribed shape. We consider two classes of directed, cyclic information architectures associated with so-called minimally persistent formations: leader-remote-follower and coleader. In our framework the formation shape is maintained by controlling...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Journal article
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2011.2146890


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