Decentralized control of parallel rigid formations with direction constraints and bearing measurements

Antonio Franchi, Paolo Robuffo Giordano

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

48 Citations (Scopus)

Abstract

In this paper we analyze the relationship between scalability, minimality and rigidity, and its application to cooperative control. As a case study, we address the problem of multi-agent formation control by proposing a distributed control strategy that stabilizes a formation described with bearing (direction) constraints, and that only requires bearing measurements and parallel rigidity of the interaction graph. We also consider the possibility of having different graphs modeling the interaction network in order to explicitly take into account the conceptual difference between sensing, communication, control, and parameters stored in the network. We then show how the information can be 'moved' from a graph to another making use of decentralized estimation, provided the parallel rigidity property. Finally we present simulative examples in order to show the validity of the theoretical analysis in some illustrative cases.

Original languageEnglish
Title of host publication2012 IEEE 51st IEEE Conference on Decision and Control (CDC)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages5310-5317
Number of pages8
ISBN (Electronic)978-1-4673-2066-5, 978-1-4673-2064-1
ISBN (Print)978-1-4673-2065-8, 978-1-4673-2063-4
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event51st IEEE Conference on Decision and Control, CDC 2012 - Maui, United States
Duration: 10 Dec 201213 Dec 2012
Conference number: 51

Publication series

NameProceedings of the IEEE Conference on Decision and Control (CDC)
PublisherIEEE
Volume2012
ISSN (Print)0191-2216
ISSN (Electronic)0743-1546

Conference

Conference51st IEEE Conference on Decision and Control, CDC 2012
Abbreviated titleCDC
CountryUnited States
CityMaui
Period10/12/1213/12/12

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