Distributed shape control and collision avoidance for multi-agent systems with bearing-only constraints

Deghat, M; Bishop, AN

Distributed shape control and collision avoidance for multi-agent systems with bearing-only constraints

Deghat, M Bishop, AN

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Publication Type:: Conference Proceeding
Citation:: 2015 European Control Conference, ECC 2015, 2015, pp. 2342 - 2347
Issue Date:: 2015-11-16

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Field	Value	Language
dc.contributor.author	Deghat, M	en_US
dc.contributor.author	Bishop, AN https://orcid.org/0000-0001-8581-8562	en_US
dc.date.issued	2015-11-16	en_US
dc.identifier.citation	2015 European Control Conference, ECC 2015, 2015, pp. 2342 - 2347	en_US
dc.identifier.isbn	9783952426937	en_US
dc.identifier.uri	http://hdl.handle.net/10453/120197
dc.description.abstract	© 2015 EUCA. This paper looks at the design of a distributed control law to solve the formation shape control problem using bearing-only constraints in two-dimensional space while inter-agent collision between the neighbor agents is avoided. We assume each agent can measure the relative position and is only given the desired bearing (and not the distance) to its neighbors in some local coordinate system attached to the agent. We use a relaxed control law that allows each agent to move on any direction on a half-plane to achieve the desired formation shape, and impose some conditions on the motion of the agents such that no collision occurs between the neighbor agents. Simulation results are given that show the performance of the algorithm.	en_US
dc.relation	http://purl.org/au-research/grants/arc/DE120102873
dc.relation.ispartof	2015 European Control Conference, ECC 2015	en_US
dc.relation.isbasedon	10.1109/ECC.2015.7330888	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Distributed shape control and collision avoidance for multi-agent systems with bearing-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:

© 2015 EUCA. This paper looks at the design of a distributed control law to solve the formation shape control problem using bearing-only constraints in two-dimensional space while inter-agent collision between the neighbor agents is avoided. We assume each agent can measure the relative position and is only given the desired bearing (and not the distance) to its neighbors in some local coordinate system attached to the agent. We use a relaxed control law that allows each agent to move on any direction on a half-plane to achieve the desired formation shape, and impose some conditions on the motion of the agents such that no collision occurs between the neighbor agents. Simulation results are given that show the performance of the algorithm.

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http://hdl.handle.net/10453/120197