Bearing-Only Triangular Formation Control on the Plane and the Sphere

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dc.contributor.authorBishop, Adrian
dc.contributor.authorBasiri, Meysam
dc.coverage.spatialMarrakech Morocco
dc.date.accessioned2015-12-10T22:54:41Z
dc.date.createdJune 23-25 2010
dc.date.issued2010
dc.date.updated2016-02-24T11:01:30Z
dc.description.abstractWe consider the problem of distributed bearing-only formation control. Each agent measures the inter-agent bearings in a local coordinate system and is tasked at maintaining a specified angular separation relative to its neighbors. The problem we consider differs from other problems in the literature since no inter-agent distance measurements are employed. Each agent's control law is distributed and based only on its locally measured bearings. A strong convergence result is established which guarantees global convergence of the formation to the desired shape while at the same time ensures that collisions are avoided naturally. We show that the control scheme is robust to agent motion failures and the presence of additional group motion inputs. Finally, we extend our system to the case where the agent's motion is restricted to a sphere.
dc.identifier.isbn9781424480920
dc.identifier.urihttp://hdl.handle.net/1885/59747
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesMediterranean Conference on Control and Automation 2010
dc.sourceProceedings of the Mediterranean Conference on Control and Automation 2010
dc.subjectKeywords: Angular separation; Bearing-only; Control laws; Control schemes; Formation control; Global convergence; Local coordinate system; Motion input; Strong convergence; Spheres; Bearings (structural)
dc.titleBearing-Only Triangular Formation Control on the Plane and the Sphere
dc.typeConference paper
local.bibliographicCitation.lastpage795
local.bibliographicCitation.startpage790
local.contributor.affiliationBishop, Adrian, College of Engineering and Computer Science, ANU
local.contributor.affiliationBasiri, Meysam, Ecole Polytechnique Federale de Lausanne
local.contributor.authoremailu4884680@anu.edu.au
local.contributor.authoruidBishop, Adrian, u4884680
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.identifier.absseo810104 - Emerging Defence Technologies
local.identifier.ariespublicationu4334215xPUB506
local.identifier.doi10.1109/MED.2010.5547774
local.identifier.scopusID2-s2.0-77957010397
local.identifier.thomsonID000324864700126
local.identifier.uidSubmittedByu4334215
local.type.statusPublished Version

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