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Controlling the shape and scale of triangular formations using landmarks and bearing-only sensing
Authors
BDO Anderson
AN Bishop
IL Manuel
C Yu
Publication date
26 August 2016
Publisher
'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Cite
Abstract
© 2016 TCCT. This work considers the scenario where three agents that can sense only bearings use two landmarks to control their formation shape. We define a method of relating the known distance separating the landmarks back to the edge lengths of the triangular formation. The result is used to define a formation control law that incorporates inter-agent distance constraints. We prove a strong exponential convergence result and show how one can extend the controller such that global stability from any initial position is possible
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info:doi/10.1109%2Fchicc.2016....
Last time updated on 03/08/2021
OPUS - University of Technology Sydney
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oai:opus.lib.uts.edu.au:10453/...
Last time updated on 18/10/2019