Distributed algorithm for controlling scale-free polygonal formations

Abstract : This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner of the polygon. The algorithm shares the appealing properties of the popular distance-based rigid formation control, but with the additional advantage of requiring the control of fewer pairs of neighboring agents. Furthermore, the scale of the polygon can be controlled by only one pair of neighboring agents. We also exploit the exponential stability of the controlled formation in order to steer the formation as a whole with translations and rotations in a prescribed way. We provide both theoretical analysis and illustrative simulations.
Type de document :
Communication dans un congrès
IFAC 2017, 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France
Liste complète des métadonnées

Littérature citée [13 références]  Voir  Masquer  Télécharger

https://hal-enac.archives-ouvertes.fr/hal-01496280
Contributeur : Laurence Porte <>
Soumis le : lundi 27 mars 2017 - 13:24:27
Dernière modification le : mardi 30 janvier 2018 - 13:50:03
Document(s) archivé(s) le : mercredi 28 juin 2017 - 13:51:00

Fichier

Distributed_algorithm_for_cont...
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Hector Garcia de Marina, Bayu Jayawardhana, Ming Cao. Distributed algorithm for controlling scale-free polygonal formations. IFAC 2017, 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. 〈hal-01496280〉

Partager

Métriques

Consultations de la notice

68

Téléchargements de fichiers

37