Name
Abstract | ||
|---|---|---|
This paper considers the coupled, bearing-only formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming that the desired angular separation of each agent relative to the group is feasible, a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally measured bearings. A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1016/j.sysconle.2009.12.010 | Systems & Control Letters |
Keywords | Field | DocType |
Angle constraints,Bearing-only measurements,Distributed control,Formation control,Multi-agent systems | Convergence (routing),Control theory,Bearing (mechanical),Multi-agent system,Angular distance,Mathematics | Journal |
Volume | Issue | ISSN |
59 | 2 | 0167-6911 |
Citations | PageRank | References |
53 | 2.33 | 23 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Meysam Basiri | 1 | 81 | 5.92 |
| Adrian n. Bishop | 2 | 334 | 25.08 |
| Patric Jensfelt | 3 | 1018 | 68.96 |