Journal ArticleDOI
Rigid graph control architectures for autonomous formations
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In this paper, a theory for analyzing and creating architectures appropriate to the control of formations of autonomous vehicles is presented. The theory is based on ideas of rigid graph theory, some but not all of which are old.Abstract:
This article sets out the rudiments of a theory for analyzing and creating architectures appropriate to the control of formations of autonomous vehicles. The theory rests on ideas of rigid graph theory, some but not all of which are old. The theory, however, has some gaps in it, and their elimination would help in applications. Some of the gaps in the relevant graph theory are as follows. First, there is as yet no analogue for three-dimensional graphs of Laman's theorem, which provides a combinatorial criterion for rigidity in two-dimensional graphs. Second, for three-dimensional graphs there is no analogue of the two-dimensional Henneberg construction for growing or deconstructing minimally rigid graphs although there are conjectures. Third, global rigidity can easily be characterized for two-dimensional graphs, but not for three-dimensional graphs.read more
Citations
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Proceedings ArticleDOI
Formation-oriented Motion Coordination of Multi-agent Systems over Relative Measurements*
TL;DR: This paper addresses a formation-oriented motion control problem, which is a class of velocity assigned formation control problems, where the desired direction of movement is not given by an absolute bearing, but is oriented by the achieved formation.
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Dynamic Modelling and Numerical Simulation of Formation Control for Intelligent Multi-agent System with Target Geometric Configuration
TL;DR: Wang et al. as discussed by the authors proposed a novel approach of formation control for a multi-agent system with target geometric configuration by combining dynamic model with graph realization, where the global rigid graph is designed for the target formation pattern, then the interactive relationship and the expected distance between different intelligent agents are identified by the realization of graph.
Proceedings ArticleDOI
Almost Global Convergence on (d + 1)-Agent Formations Employing Narrow Weak Rigidity in the d-Dimensional Space
Seong-Ho Kwon,Hyo-Sung Ahn +1 more
TL;DR: It is shown that a formation with (d + 1) agents in ℝd converges to a desired equilibrium point (desired formation) exponentially fast.
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Bearing-only formation control for double integrators in a plane
TL;DR: In this paper , a leader-first-follower (LFF) set up is considered where the leader is completely independent and the follower agents are assigned to control a fixed number of bearings with respect to their neighbors.
Proceedings ArticleDOI
On the internal dynamics of formations of unicycle robots
TL;DR: Sufficient conditions are presented that guarantee that the position and orientation of the vehicles with respect to the leader's reference frame are confined in a specific polyhedral region, regardless of the trajectory of the leader, provided that its curvature is sufficiently small.
References
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Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
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Modeling and control of formations of nonholonomic mobile robots
TL;DR: This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory.
Journal ArticleDOI
On graphs and rigidity of plane skeletal structures
TL;DR: In this paper, the combinatorial properties of rigid plane skeletal structures are investigated, and the properties are found to be adequately described by a class of graph-structured graphs.
Journal ArticleDOI
A vision-based formation control framework
TL;DR: In this article, the authors describe a framework for cooperative control of a group of nonholonomic mobile robots that allows them to build complex systems from simple controllers and estimators, and guarantee stability and convergence in a wide range of tasks.