Distributed control of triangular sensor formations with angle-only constraints
Date
2009
Authors
Basiri, Meysam
Bishop, Adrian
Jensfelt, Patric
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Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
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 and based only on its locally measured bearings. A convergence result is established which guarantees global convergence of the formation to the desired formation shape.
Description
Keywords
Keywords: Angle constraint; Bearing-only; Bearing-only measurements; Distributed control; Formation control; Bearings (structural); Data processing; Distributed parameter control systems; Intelligent control; Mobile agents; Sensor networks; Smart sensors; Wireless Angle constraints; Bearing-only measurements; Distributed control; Formation control; Multi-agent systems
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Source
Proceedings of International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2009)
Type
Conference paper
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Restricted until
2037-12-31