Distributed scaling control of rigid formations

Hector Garcia de Marina (1) , Bayu Jayawardhana (2) , Ming Cao (3)

1 ENAC - Ecole Nationale de l'Aviation Civile
2 ITM
3 University of Groningen [Groningen]

Recently it has been reported that biased range measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect andby introducing distributed parameters to the prescribed interdistances we are able to manipulate the steady-state motion of the formation. This manipulation is in the form of inducing simultaneously the combination of constant translational andangular velocities and a controlled scaling of the rigid formation. While the computation of the distributed parameters for the translational and angular velocities is based on the wellknown graph rigidity theory, the parameters responsible for the scaling are based on some recent findings in bearing rigidity theory. We carry out the stability analysis of the modified gradient system and simulations in order to validate the main result.

Domaines: Automatique / Robotique

Hector Garcia de Marina, Bayu Jayawardhana, Ming Cao. Distributed scaling control of rigid formations. CDC 2016, 55th IEEE Conference on Decision and Control, Dec 2016, Las Vegas, United States. ⟨10.1109/CDC.2016.7799055⟩. ⟨hal-01422736⟩