Abstract
This paper considers a formation control problem for a team of agents that are only able to sense the relative bearings from their local body frame to neighboring agents. It is further assumed that the sensing graph is inherently directed and a common reference frame is not known to all of the agents. Each agent is tasked with maintaining predetermined bearings with their neighbors. Using the recently developed rigidity theory for SE(2) frameworks [1], we propose a gradient-type controller to stabilize the formation. The central construct in the SE(2) rigidity theory for this work is the directed bearing rigidity matrix. We show that a necessary condition for the local stabilization of desired formation is for the corresponding SE(2) framework to be minimally infinitesimally rigid.
| Original language | English |
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| Title of host publication | 54th IEEE Conference on Decision and Control, CDC 2015 |
| Place of Publication | Piscataway, NJ |
| Publisher | IEEE |
| Pages | 6121-6126 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-1-4799-7886-1 |
| ISBN (Print) | 978-1-4799-7884-7 , 978-1-4799-7885-4 |
| DOIs | |
| Publication status | Published - 8 Feb 2015 |
| Externally published | Yes |
| Event | 54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan Duration: 15 Dec 2015 → 18 Dec 2015 Conference number: 54 |
Publication series
| Name | Proceedings of the IEEE Conference on Decision and Control (CDC) |
|---|---|
| Publisher | IEEE |
| Volume | 2015 |
| ISSN (Print) | 0743-1546 |
Conference
| Conference | 54th IEEE Conference on Decision and Control, CDC 2015 |
|---|---|
| Abbreviated title | CDC |
| Country/Territory | Japan |
| City | Osaka |
| Period | 15/12/15 → 18/12/15 |
Keywords
- Conferences
- Coordinate measuring machines
- Estimation
- Jacobian matrices
- Sensors
- Shape
- Stability analysis