On the stability and applications of distance-based flexible formations

Date

2019

Authors

de Marina, Hector Garcia
Sun, Zhiyong
Mou, S.

Journal Title

Journal ISSN

Volume Title

Publisher

IEEE

Abstract

This paper investigates the stability of distance-based flexible undirected formations in the plane. Without rigidity, there exists a set of connected shapes for given distance constraints, which is called the ambit. We show that a flexible formation can lose its flexibility, or equivalently may reduce the degrees of freedom of its ambit, if a small disturbance is introduced in the range sensor of the agents. The stability of the disturbed equilibrium can be characterized by analyzing the eigenvalues of the linearized augmented error system. Unlike infinitesimally rigid formations, the disturbed desired equilibrium can be turned unstable regardless of how small the disturbance is. We finally present two examples of how to exploit these disturbances as design parameters. The first example shows how to combine rigid and flexible formations such that some of the agents can move freely in the desired and locally stable ambit. The second example shows how to achieve a specific shape with fewer edges than the necessary for the standard controller in rigid formations.

Description

Keywords

Shape, Stability analysis, Orbits, Legged locomotion, Multi-agent systems, Trajectory

Citation

Source

Proceedings of the 2018 IEEE Conference on Decision and Control

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

Restricted until

2037-12-31
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