On the stability and applications of distance-based flexible formations

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dc.contributor.authorde Marina, Hector Garcia
dc.contributor.authorSun, Zhiyong
dc.contributor.authorMou, S.
dc.coverage.spatialMiami, USA
dc.date.accessioned2020-02-09T23:16:40Z
dc.date.createdDecember 17-19 2018
dc.date.issued2019
dc.date.updated2019-11-25T07:30:06Z
dc.description.abstractThis 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.en_AU
dc.format.extent6 pagesen_AU
dc.format.mimetypeapplication/pdfen_AU
dc.identifier.isbn9781538613955en_AU
dc.identifier.urihttp://hdl.handle.net/1885/201551
dc.language.isoen_AUen_AU
dc.publisherIEEEen_AU
dc.relation.ispartofseries57th IEEE Conference on Decision and Control, CDC 2018
dc.rights© 2018 IEEEen_AU
dc.sourceProceedings of the 2018 IEEE Conference on Decision and Controlen_AU
dc.subjectShapeen_AU
dc.subjectStability analysisen_AU
dc.subjectOrbitsen_AU
dc.subjectLegged locomotionen_AU
dc.subjectMulti-agent systemsen_AU
dc.subjectTrajectoryen_AU
dc.titleOn the stability and applications of distance-based flexible formationsen_AU
dc.typeConference paperen_AU
local.bibliographicCitation.lastpage1705en_AU
local.bibliographicCitation.startpage1700en_AU
local.contributor.affiliationde Marina, Hector Garcia, University of Southern Denmarken_AU
local.contributor.affiliationSun, Zhiyong, College of Engineering and Computer Science, The Australian National Universityen_AU
local.contributor.affiliationMou, S., Yale Universityen_AU
local.contributor.authoremailu5227943@anu.edu.auen_AU
local.contributor.authoruidSun, Zhiyong, u5227943en_AU
local.description.embargo2037-12-31
local.description.notesImported from ARIES. The 2018 IEEE Conference on Decision and Control (CDC) was held on 17-19 December 2018 in Miami Beach, Fl, USA.en_AU
local.description.refereedYes
local.identifier.absfor090602 - Control Systems, Robotics and Automationen_AU
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theoryen_AU
local.identifier.absseo970101 - Expanding Knowledge in the Mathematical Sciencesen_AU
local.identifier.absseo970110 - Expanding Knowledge in Technologyen_AU
local.identifier.ariespublicationu3102795xPUB1212en_AU
local.identifier.doi10.1109/CDC.2018.8619429en_AU
local.identifier.scopusID2-s2.0-85062186603
local.identifier.uidSubmittedByu3102795en_AU
local.publisher.urlhttps://www.ieee.org/en_AU
local.type.statusPublished Versionen_AU

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