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Distributed control of triangular formations with angle-only constraints

Basiri, Meysam; Bishop, Adrian; Jensfelt, Patric

Description

This paper considers the coupled, bearing-only formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming that the desired angular separation of each agent relative to the group is feasible, a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally...[Show more]

dc.contributor.authorBasiri, Meysam
dc.contributor.authorBishop, Adrian
dc.contributor.authorJensfelt, Patric
dc.date.accessioned2015-12-13T22:43:11Z
dc.identifier.issn0167-6911
dc.identifier.urihttp://hdl.handle.net/1885/79088
dc.description.abstractThis paper considers the coupled, bearing-only formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming that the desired angular separation of each agent relative to the group is feasible, a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally measured bearings. A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape.
dc.publisherElsevier
dc.sourceSystems and Control Letters
dc.subjectKeywords: Angle constraint; Bearing-only; Bearing-only measurements; Distributed control; Formation control; Bearings (structural); Distributed parameter control systems; Mobile agents; Multi agent systems Angle constraints; Bearing-only measurements; Distributed control; Formation control; Multi-agent systems
dc.titleDistributed control of triangular formations with angle-only constraints
dc.typeJournal article
local.description.notesImported from ARIES
local.identifier.citationvolume59
dc.date.issued2010
local.identifier.absfor010200 - APPLIED MATHEMATICS
local.identifier.ariespublicationf5625xPUB7612
local.type.statusPublished Version
local.contributor.affiliationBasiri, Meysam, Royal Institute of Technology (KTH)
local.contributor.affiliationBishop, Adrian, College of Engineering and Computer Science, ANU
local.contributor.affiliationJensfelt, Patric, Royal Institute of Technology (KTH)
local.description.embargo2037-12-31
local.bibliographicCitation.issue2
local.bibliographicCitation.startpage147
local.bibliographicCitation.lastpage154
local.identifier.doi10.1016/j.sysconle.2009.12.010
dc.date.updated2016-02-24T09:36:09Z
local.identifier.scopusID2-s2.0-75249102771
CollectionsANU Research Publications

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