Controlling the shape and scale of triangular formations using landmarks and bearing-only sensing

Publication Type:
Conference Proceeding
Chinese Control Conference, CCC, 2016, 2016-August pp. 7532 - 7537
Issue Date:
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© 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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