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Distributed control of triangular sensor formations with angle-only constraints

Basiri, Meysam; Bishop, Adrian; Jensfelt, Patric


This paper considers the coupled 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 its neighbors. The problem considered in this paper differs from similar problems in the literature since no inter-agent distance measurements are employed and the desired formation is specified entirely by the internal triangle angles. Each agent's control law is distributed...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
Source: Proceedings of International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2009)
DOI: 10.1109/ISSNIP.2009.5416849


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