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

Manuel, IL; Bishop, AN; Anderson, BDO; Yu, C

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

Manuel, IL Bishop, AN

Anderson, BDO Yu, C

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Publication Type:: Conference Proceeding
Citation:: Chinese Control Conference, CCC, 2016, 2016-August pp. 7532 - 7537
Issue Date:: 2016-08-26

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Field	Value	Language
dc.contributor.author	Manuel, IL	en_US
dc.contributor.author	Bishop, AN https://orcid.org/0000-0001-8581-8562	en_US
dc.contributor.author	Anderson, BDO	en_US
dc.contributor.author	Yu, C	en_US
dc.date.issued	2016-08-26	en_US
dc.identifier.citation	Chinese Control Conference, CCC, 2016, 2016-August pp. 7532 - 7537	en_US
dc.identifier.isbn	9789881563910	en_US
dc.identifier.issn	1934-1768	en_US
dc.identifier.uri	http://hdl.handle.net/10453/101958
dc.description.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.	en_US
dc.relation.ispartof	Chinese Control Conference, CCC	en_US
dc.relation.isbasedon	10.1109/ChiCC.2016.7554550	en_US
dc.title	Controlling the shape and scale of triangular formations using landmarks and bearing-only sensing	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2016-August	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	2016-August	en_US

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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http://hdl.handle.net/10453/101958