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
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Design Theory of Distributed Controllers via Gradient-Flow Approach
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Robotic Motion Coordination Based on a Geometric Deformation Measure
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Proceedings Article
Adaptive perturbation method for global stabilization of minimally rigid formations in the plane
Yu-Ping Tian,Qin Wang +1 more
TL;DR: In this article, a constructive adaptive perturbation method is proposed for globally stabilizing minimal rigid formations, which can not only guarantee the global asymptotical stability of the desired formation, but also ensure that no collision happens between any two adjacent agents during the motion.
Proceedings ArticleDOI
Controlling a rigid formation from a triangle
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References
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Coverage control for mobile sensing networks
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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.