3,512 research outputs found
Controlling rigid formations of mobile agents under inconsistent measurements
Despite the great success of using gradient-based controllers to stabilize
rigid formations of autonomous agents in the past years, surprising yet
intriguing undesirable collective motions have been reported recently when
inconsistent measurements are used in the agents' local controllers. To make
the existing gradient control robust against such measurement inconsistency, we
exploit local estimators following the well known internal model principle for
robust output regulation control. The new estimator-based gradient control is
still distributed in nature and can be constructed systematically even when the
number of agents in a rigid formation grows. We prove rigorously that the
proposed control is able to guarantee exponential convergence and then
demonstrate through robotic experiments and computer simulations that the
reported inconsistency-induced orbits of collective movements are effectively
eliminated.Comment: 10 page
Controlling a triangular flexible formation of autonomous agents
In formation control, triangular formations consisting of three autonomous
agents serve as a class of benchmarks that can be used to test and compare the
performances of different controllers. We present an algorithm that combines
the advantages of both position- and distance-based gradient descent control
laws. For example, only two pairs of neighboring agents need to be controlled,
agents can work in their own local frame of coordinates and the orientation of
the formation with respect to a global frame of coordinates is not prescribed.
We first present a novel technique based on adding artificial biases to
neighboring agents' range sensors such that their eventual positions correspond
to a collinear configuration. Right after, a small modification in the bias
terms by introducing a prescribed rotation matrix will allow the control of the
bearing of the neighboring agents.Comment: 7 pages, accepted in the 20th World Congress of the International
Federation of Automatic Control (IFAC
Distributed scaling control of rigid formations
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
and by introducing distributed parameters to the prescribed inter-distances 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 and angular 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 well-known 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.Comment: 6 pages In proceedings 55th Conference on Decision and Control, year
201
Taming mismatches in inter-agent distances for the formation-motion control of second-order agents
This paper presents the analysis on the influence of distance mismatches on
the standard gradient-based rigid formation control for second-order agents. It
is shown that, similar to the first-order case as recently discussed in the
literature, these mismatches introduce two undesired group behaviors: a
distorted final shape and a steady-state motion of the group formation. We show
that such undesired behaviors can be eliminated by combining the standard
formation control law with distributed estimators. Finally, we show how the
mismatches can be effectively employed as design parameters in order to control
a combined translational and rotational motion of the formation.Comment: 14 pages, conditionally accepted in Automatic Control, IEEE
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A distributed optimization framework for localization and formation control: applications to vision-based measurements
Multiagent systems have been a major area of research for the last 15 years. This interest has been motivated by tasks that can be executed more rapidly in a collaborative manner or that are nearly impossible to carry out otherwise. To be effective, the agents need to have the notion of a common goal shared by the entire network (for instance, a desired formation) and individual control laws to realize the goal. The common goal is typically centralized, in the sense that it involves the state of all the agents at the same time. On the other hand, it is often desirable to have individual control laws that are distributed, in the sense that the desired action of an agent depends only on the measurements and states available at the node and at a small number of neighbors. This is an attractive quality because it implies an overall system that is modular and intrinsically more robust to communication delays and node failures
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