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Control of Triangle Formations with a Mix of Angle and Distance Constraints

Bishop, Adrian; Summers, Tyler; Anderson, Brian


A distributed control law for triangular formation control with a mixture of bearing and range measurements and relative pair-wise inter-agent angle constraints and a single range constraint is introduced. The control law is weak in the sense that two agents are free to choose their own heading within a relatively large range of values. Indeed, the agents can determine their heading independently at run-time given any criteria they desire as long as certain relaxed conditions are met. A...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Conference paper
DOI: 10.1109/CCA.2012.6402365


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