49,492 research outputs found
Bearing-Based Distributed Control and Estimation of Multi-Agent Systems
This paper studies the distributed control and estimation of multi-agent
systems based on bearing information. In particular, we consider two problems:
(i) the distributed control of bearing-constrained formations using relative
position measurements and (ii) the distributed localization of sensor networks
using bearing measurements. Both of the two problems are considered in
arbitrary dimensional spaces. The analyses of the two problems rely on the
recently developed bearing rigidity theory. We show that the two problems have
the same mathematical formulation and can be solved by identical protocols. The
proposed controller and estimator can globally solve the two problems without
ambiguity. The results are supported with illustrative simulations.Comment: 6 pages, to appear in the 2015 European Control Conferenc
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
Bearing-Based Formation Maneuvering
This paper studies the problem of multi-agent formation maneuver control
where both of the centroid and scale of a formation are required to track given
velocity references while maintaining the formation shape. Unlike the
conventional approaches where the target formation is defined by inter-neighbor
relative positions or distances, we propose a bearing-based approach where the
target formation is defined by inter-neighbor bearings. Due to the invariance
of the bearings, the bearing-based approach provides a natural solution to
formation scale control. We assume the dynamics of each agent as a single
integrator and propose a globally stable proportional-integral formation
maneuver control law. It is shown that at least two leaders are required to
collaborate in order to control the centroid and scale of the formation whereas
the followers are not required to have access to any global information, such
as the velocities of the leaders.Comment: To appear in the 2015 IEEE Multi-Conference on Systems and Control
(MSC2015); this is the final versio
A Unified Dissertation on Bearing Rigidity Theory
This work focuses on the bearing rigidity theory, namely the branch of
knowledge investigating the structural properties necessary for multi-element
systems to preserve the inter-units bearings when exposed to deformations. The
original contributions are twofold. The first one consists in the definition of
a general framework for the statement of the principal definitions and results
that are then particularized by evaluating the most studied metric spaces,
providing a complete overview of the existing literature about the bearing
rigidity theory. The second one rests on the determination of a necessary and
sufficient condition guaranteeing the rigidity properties of a given
multi-element system, independently of its metric space
Bearing-based formation control with second-order agent dynamics
We consider the distributed formation control problem for a network of agents using visual measurements. We propose solutions that are based on bearing (and optionally distance) measurements, and agents with double integrator dynamics. We assume that a subset of the agents can track, in addition to their neighbors, a set of static features in the environment. These features are not considered to be part of the formation, but they are used to asymptotically control the velocity of the agents. We analyze the convergence properties of the proposed protocols analytically and through simulations.Published versionSupporting documentatio
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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