Stabilization of rigid formations with direction-only constraints

Bishop, AN; Shames, I; Anderson, BDO

Stabilization of rigid formations with direction-only constraints

Bishop, AN

Shames, I Anderson, BDO

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the IEEE Conference on Decision and Control, 2011, pp. 746 - 752
Issue Date:: 2011-12-01

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Field	Value	Language
dc.contributor.author	Bishop, AN https://orcid.org/0000-0001-8581-8562	en_US
dc.contributor.author	Shames, I	en_US
dc.contributor.author	Anderson, BDO	en_US
dc.date.issued	2011-12-01	en_US
dc.identifier.citation	Proceedings of the IEEE Conference on Decision and Control, 2011, pp. 746 - 752	en_US
dc.identifier.isbn	9781612848006	en_US
dc.identifier.issn	0191-2216	en_US
dc.identifier.uri	http://hdl.handle.net/10453/119670
dc.description.abstract	Direction-based formation shape control for a collection of autonomous agents involves the design of distributed control laws that ensure the formation moves so that certain relative bearing constraints achieve, and maintain, some desired value. This paper looks at the design of a distributed control scheme to solve the direction-based formation shape control problem. A gradient control law is proposed based on the notion of bearing-only constrained graph rigidity and parallel drawings. This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only constraints are typically maintained. A stability analysis is sketched and a number of illustrative examples are also given. © 2011 IEEE.	en_US
dc.relation.ispartof	Proceedings of the IEEE Conference on Decision and Control	en_US
dc.relation.isbasedon	10.1109/CDC.2011.6160743	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Stabilization of rigid formations with direction-only constraints	en_US
dc.type	Conference Proceeding
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	closed_access	*
pubs.publication-status	Published	en_US

Abstract:

Direction-based formation shape control for a collection of autonomous agents involves the design of distributed control laws that ensure the formation moves so that certain relative bearing constraints achieve, and maintain, some desired value. This paper looks at the design of a distributed control scheme to solve the direction-based formation shape control problem. A gradient control law is proposed based on the notion of bearing-only constrained graph rigidity and parallel drawings. This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only constraints are typically maintained. A stability analysis is sketched and a number of illustrative examples are also given. © 2011 IEEE.

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http://hdl.handle.net/10453/119670