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Formation control using range-only measurements

Cao, Ming; Yu, Changbin (Brad); Anderson, Brian

Description

This paper proposes algorithms to coordinate a formation of mobile agents when the agents are not able to measure the relative positions of their neighbors, but only the distances to their respective neighbors. In this sense, less information is available to agents than is normally assumed in formation stabilization or station keeping problems. To control the shape of the formation, the solution advanced in the paper involves subsets of non-neighbor agents cyclically localizing the relative...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Journal article
URI: http://hdl.handle.net/1885/67790
Source: Automatica
DOI: 10.1016/j.automatica.2011.01.067

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