Journal ArticleDOI
Stabilisation of infinitesimally rigid formations of multi-robot networks
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It is shown that infinitesimal rigidity is a sufficient condition for local asymptotical stability of the equilibrium manifold of the multivehicle system.Abstract:
This article considers the design of a formation control for multivehicle systems that uses only local information. The control is derived from a potential function based on an undirected infinitesimally rigid graph that specifies the target formation. A potential function is obtained from the graph, from which a gradient control is derived. Under this controller the target formation becomes a manifold of equilibria for the multivehicle system. It is shown that infinitesimal rigidity is a sufficient condition for local asymptotical stability of the equilibrium manifold. A complete study of the stability of the regular polygon formation is presented and results for directed graphs are presented as well. Finally, the controller is validated experimentally.read more
Citations
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Journal ArticleDOI
Autonomous scale control of multiagent formations with only shape constraints
TL;DR: In this paper, a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale is considered, where the desired geometry is only characterized by its shape without any location, rotation, and most importantly, scale constraints.
Journal ArticleDOI
A Scalable Feedback Mechanism for Distributed Nullforming With Phase-Only Adaptation
Amy Kumar,Raghuraman Mudumbai,Soura Dasgupta,Muhammad Mahboob Ur Rahman,D. Richard Brown,Upamanyu Madhow,T. Patrick Bidigare +6 more
TL;DR: This paper considers a problem of distributed nullforming, in which multiple wireless transmitters steer a null toward a designated receiver by only adjusting their carrier phases, and demonstrates that the convergence rate actually improves with the number of transmitters, and is robust to noise, substantial channel estimation errors, and oscillator drift.
Journal ArticleDOI
Leader-follower type distance-based formation control of a group of autonomous agents
Kwang-Kyo Oh,Hyo-Sung Ahn +1 more
TL;DR: In this paper, a relative position sensing topology is given as a directed acyclic graph and the objective of the agents is to reach their desired positions in the global reference frame.
Proceedings ArticleDOI
Distributed bearing-only formation control with four agents and a weak control law
TL;DR: A distributed control law for quadrilateral (four-agent) formation control with bearing-only measurements and relative pair-wise inter-agent angle constraints is introduced and a strong convergence result is established with ensures the desired formation configuration is globally asymptotically stable.
Proceedings ArticleDOI
Multi-agent formation maneuvering and target interception with double-integrator model
Xiaoyu Cai,Marcio de Queiroz +1 more
TL;DR: This paper introduces distance-based control laws for the multi-agent formation maneuvering and target interception problems using a double-integrator agent model and rigid graph theory.
References
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Posted Content
Coverage control for mobile sensing networks
TL;DR: This paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies which are adaptive, distributed, asynchronous, and verifiably correct.