2 research outputs found
Formation Control and Network Localization via Distributed Global Orientation Estimation in -D
In this paper, we propose a novel distributed formation control strategy,
which is based on the measurements of relative position of neighbors, with
global orientation estimation in 3-dimensional space. Since agents do not share
a common reference frame, orientations of the local reference frame are not
aligned with each other. Under the orientation estimation law, a rotation
matrix that identifies orientation of local frame with respect to a common
frame is obtained by auxiliary variables. The proposed strategy includes a
combination of global orientation estimation and formation control law. Since
orientation of each agent is estimated in the global sense, formation control
strategy ensures that the formation globally exponentially converges to the
desired formation in 3-dimensional space.Comment: 8 pages, 5 figure
Theory and Applications of Matrix-Weighted Consensus
This paper proposes the matrix-weighted consensus algorithm, which is a
generalization of the consensus algorithm in the literature. Given a networked
dynamical system where the interconnections between agents are weighted by
nonnegative definite matrices instead of nonnegative scalars, consensus and
clustering phenomena naturally exist. We examine algebraic and algebraic graph
conditions for achieving a consensus, and provide an algorithm for finding all
clusters of a given system. Finally, we illustrate two applications of the
proposed consensus algorithm in clustered consensus and in bearing-based
formation control.Comment: 21 pages, 8 figures. Technical report versio