Directed Formation Control of n Planar Agents with Distance and Area Constraints

01/29/2019
by   Tairan Liu, et al.
0

In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance and area-based scheme for the formation control of n-agent systems in two dimensions using directed graphs and the single-integrator model. We show that under certain conditions on the edge lengths of the triangulated desired formation, the control ensures almost-global convergence to the correct formation.

READ FULL TEXT
research
11/17/2019

Prescribed Performance Distance-Based Formation Control of Multi-Agent Systems (Extended Version)

This paper presents a novel control protocol for robust distance-based f...
research
04/17/2012

Distance Optimal Formation Control on Graphs with a Tight Convergence Time Guarantee

For the task of moving a set of indistinguishable agents on a connected ...
research
08/02/2021

2-D Directed Formation Control Based on Bipolar Coordinates

This work proposes a novel 2-D formation control scheme for acyclic tria...
research
10/21/2018

Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

This paper presents a solution based on dual quaternion algebra to the g...
research
09/14/2023

Distributed formation control of end-effector of mixed planar fully- and under-actuated manipulators

This paper addresses the problem of end-effector formation control for a...
research
06/01/2020

Learning Distributed Controllers for V-Formation

We show how a high-performing, fully distributed and symmetric neural V-...
research
09/11/2018

Planar Cooperative Extremum Seeking with Guaranteed Convergence Using A Three-Robot Formation

In this paper, a combined formation acquisition and cooperative extremum...

Please sign up or login with your details

Forgot password? Click here to reset