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Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure

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dc.contributor.authorTrinh, Minh H.
dc.contributor.authorZhao, Shiyu
dc.contributor.authorSun, Zhiyong
dc.contributor.authorZelazo, Daniel
dc.contributor.authorAnderson, Brian
dc.contributor.authorAhn, Hyo-Sung
dc.date.accessioned2019-12-06T01:13:27Z
dc.date.issued2018-05-14
dc.date.updated2023-01-15T07:16:22Z
dc.description.abstractThis paper studies bearing-based formation control of a group of autonomous agents with the leader-first follower (LFF) structure in an arbitrary dimensional space. First, the bearing-based Henneberg construction and some properties of the LFF formation are introduced. Then, we propose and analyze bearing-only control laws that almost globally stabilize LFF formations to a desired formation. Further strategies to rotate and rescale the target formation are also discussed. Finally, simulation results are provided to support the analysis.
dc.description.sponsorshipThe work of M. H. Trinh and H.-S. Ahn was supported by the National Research Foundation of South Korea under the Grant NRF2017R1A2B3007034. The work of D. Zelazo was supported in part by the Technion by a fellowship of the Israel Council for Higher Education and in part by the Israel Science Foundation under Grant No. 1490/1. The work of B. D. O. Anderson was supported in part by the Australian Research Council under Grant DP130103610 and Grant DP160104500, and in part by Data61-CSIRO.
dc.format.mimetypeapplication/pdfen_AU
dc.identifier.issn0018-9286en_AU
dc.identifier.urihttp://hdl.handle.net/1885/188458
dc.language.isoen_AUen_AU
dc.provenancehttp://v2.sherpa.ac.uk/id/publication/3417..."author accepted manuscript can be made available in institutional repository" from SHERPA/RoMEO site (as at 15/5/20).
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relationhttp://purl.org/au-research/grants/arc/DP130103610
dc.relationhttp://purl.org/au-research/grants/arc/DP160104500
dc.rights© 2018 IEEE
dc.sourceIEEE Transactions on Automatic Control
dc.titleBearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure
dc.typeJournal article
dcterms.accessRightsOpen Access
local.bibliographicCitation.issue2en_AU
local.bibliographicCitation.lastpage613en_AU
local.bibliographicCitation.startpage598en_AU
local.contributor.affiliationTrinh, Minh H., Gwangju Institute of Science and Technologyen_AU
local.contributor.affiliationZhao, Shiyu, University of Sheffielden_AU
local.contributor.affiliationSun, Zhiyong, College of Engineering and Computer Science, ANUen_AU
local.contributor.affiliationZelazo, Daniel, Technion–Israel Institute of Technologyen_AU
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANUen_AU
local.contributor.affiliationAhn, Hyo-Sung, Gwangju Institute of Science and Technologyen_AU
local.contributor.authoruidSun, Zhiyong, u5227943en_AU
local.contributor.authoruidAnderson, Brian, u8104642en_AU
local.description.notesImported from ARIESen_AU
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theoryen_AU
local.identifier.absfor090602 - Control Systems, Robotics and Automationen_AU
local.identifier.absseo970109 - Expanding Knowledge in Engineeringen_AU
local.identifier.ariespublicationa383154xPUB10026en_AU
local.identifier.citationvolume64en_AU
local.identifier.doi10.1109/TAC.2018.2836022en_AU
local.identifier.scopusID2-s2.0-85046821139
local.identifier.thomsonIDWOS:000457375100011
local.publisher.urlhttps://ieeexplore.ieee.orgen_AU
local.type.statusAccepted Versionen_AU

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