Journal ArticleDOI
Further results on the distance and area control of planar formations
TLDR
It is proved that, under certain conditions on the edge lengths of the triangulated desired formation and control gains, the distributed controller ensures the almost-global asymptotic stability of the correct formation and is coordinate frame invariant.Abstract:
A method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers was recently proposed by introducing an additional controlled variable, ...read more
Citations
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Journal ArticleDOI
Prescribed performance distance-based formation control of Multi-Agent Systems
TL;DR: In this paper, the authors presented a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances, in which connectivity maintenance and collision avoidance among neighboring agents are also handled by the appropriate design of certain performance bounds that constrain the inter-agent distance errors.
Posted Content
Prescribed Performance Distance-Based Formation Control of Multi-Agent Systems (Extended Version).
TL;DR: It is argued that the proposed approach increases formation robustness against shape distortions and can prevent formation convergence to incorrect shapes, which is likely to happen in conventional distance-based formation control methods.
Posted Content
Hybrid distance-angle rigidity theory with signed constraints and its applications to formation shape control
TL;DR: A hybrid distance-angle rigidity theory that involves heterogeneous distances and signed constraints for a framework in the 2-D and 3-D space is developed and a gradient-based control system that guarantees an exponential convergence close to a desired formation by inter-neighbor measurements is developed.
Journal ArticleDOI
An orthogonal basis approach to formation shape control
Tairan Liu,Marcio de Queiroz +1 more
TL;DR: A novel approach to the problem of augmenting distance-based formation controllers with a secondary constraint for the purpose of preventing 3D formation ambiguities by introducing three controlled variables that form an orthogonal space and uniquely characterize a tetrahedron formation in 3D.
Journal ArticleDOI
Switching formation shape control with distance + area/angle feedback
TL;DR: This paper considers distance + area (or angle) schemes for 2D formations of single-integrator agents and introduces switching control laws that ensure the asymptotic stability of the desired formation for almost all initial agent positions.
References
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Patients’ Responsibilities in Medical Ethics
TL;DR: It is argued that certain duties of patients counterbalance an otherwise unfair captivity of doctors as helpers and that vulnerability does not exclude obligation.
Journal ArticleDOI
Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
BookDOI
Distributed Consensus in Multi-vehicle Cooperative Control
Wei Ren,Randal W. Beard +1 more
TL;DR: In this article, the authors present a survey of the use of consensus algorithms in multi-vehicle cooperative control, including single-and double-integrator dynamical systems, rigid-body attitude dynamics, rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance.
Journal ArticleDOI
Automatic generation and detection of highly reliable fiducial markers under occlusion
TL;DR: A fiducial marker system specially appropriated for camera pose estimation in applications such as augmented reality and robot localization is presented and an algorithm for generating configurable marker dictionaries following a criterion to maximize the inter-marker distance and the number of bit transitions is proposed.
BookDOI
CRC Standard Mathematical Tables and Formulae
TL;DR: In this article, the authors present an algebraic version of elementary mathematics proofs without words, including the concept of special numbers and the notion of numbers without words in elementary algebra.