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Control of Acyclic Formations of Mobile Autonomous Agents

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dc.contributor.authorCao, Ming
dc.contributor.authorAnderson, Brian
dc.contributor.authorMorse, A Stephen
dc.contributor.authorYu, Changbin (Brad)
dc.coverage.spatialCancun Mexico
dc.date.accessioned2015-12-10T22:18:37Z
dc.date.createdDecember 9-11 2008
dc.date.issued2008
dc.date.updated2016-02-24T10:59:17Z
dc.description.abstractThis paper proposes distributed control laws for maintaining the shape of a formation of mobile autonomous agents in the plane for which the desired shape is defined in terms of prescribed distances between appropriately chosen pairs of agents. The formations considered are directed and acyclic where each given distance is maintained by only one of the associated pair of agents and there is no cycle in the sensing graph. It is shown that, except for a thin set of initial positions, the gradient-like control law can always cause a formation to converge to a finite limit in an equilibrium manifold for which all distance constraints are satisfied. The potential applicability of a control law using target positions is also discussed.
dc.identifier.isbn9781424431243
dc.identifier.urihttp://hdl.handle.net/1885/51494
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE Conference on Decision and Control 2008
dc.sourceProceedings of IEEE Conference on Decision and Control 2008
dc.subjectKeywords: Control laws; Distance constraints; Distributed control laws; Finite limits; Gradient likes; Initial positions; Mobile autonomous agents; Target positions; Fuzzy clustering; Mobile agents; Autonomous agents
dc.titleControl of Acyclic Formations of Mobile Autonomous Agents
dc.typeConference paper
local.bibliographicCitation.lastpage1192
local.bibliographicCitation.startpage1187
local.contributor.affiliationCao, Ming, University of Groningen
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.contributor.affiliationMorse, A Stephen, Yale University
local.contributor.affiliationYu, Changbin (Brad), College of Engineering and Computer Science, ANU
local.contributor.authoruidAnderson, Brian, u8104642
local.contributor.authoruidYu, Changbin (Brad), u4168516
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4334215xPUB225
local.identifier.doi10.1109/CDC.2008.4738979
local.identifier.scopusID2-s2.0-62949240358
local.type.statusPublished Version

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