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Autonomous scale control of multiagent formations with only shape constraints

Huang, Huang; Yu, Changbin (Brad); Wu, Qinghe


This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here, the desired geometry is only characterized by its shape without any location, rotation, and most importantly, scale constraints. Optimal rigid transformation between two different geometries is discussed with especial focus on the scaling operation, and the cooperative...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Journal article
Source: International Journal of Robust and Nonlinear Control
DOI: 10.1002/rnc.2800


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