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Stabilization of Rigid Formations with Direction-Only Constraints

Bishop, Adrian; Shames, Iman; Anderson, Brian


Direction-based formation shape control for a collection of autonomous agents involves the design of distributed control laws that ensure the formation moves so that certain relative bearing constraints achieve, and maintain, some desired value. This paper looks at the design of a distributed control scheme to solve the direction-based formation shape control problem. A gradient control law is proposed based on the notion of bearing-only constrained graph rigidity and parallel drawings. This...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
Source: Proceedings of the IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)
DOI: 10.1109/CDC.2011.6160743


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