Proceedings ArticleDOI
Using orientation agreement to achieve planar rigid formation
He Bai,Murat Arcak,John T. Wen +2 more
- pp 753-758
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TLDR
This work proposes desired velocity and design decentralized feedback laws for each agent such that the rigid formation is guaranteed and only employs relative information with respect to neighboring agents, and thus, can be implemented in a decentralized fashion.Abstract:
We study a motion coordination problem where the objective is to steer group agents to move as a rigid body. We treat it as a joint orientation and formation control problem. We propose desired velocity and design decentralized feedback laws for each agent such that the rigid formation is guaranteed. Our design only employs relative information with respect to neighboring agents, and thus, can be implemented in a decentralized fashion.read more
Citations
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Journal ArticleDOI
Vision-Based Distributed Formation Control Without an External Positioning System
TL;DR: A 3-D distributed control law is proposed, designed at a kinematic level, that uses two simultaneous consensus controllers: one to control the relative orientations between robots, and another for the relative positions.
Proceedings ArticleDOI
Distributed formation control without a global reference frame
TL;DR: A decentralized controller to drive a team of agents to reach a desired formation in the absence of a global reference frame by comparing the system with time-varying orientations with the equivalent approach with fixed rotations.
Journal ArticleDOI
Flocking and Target Interception Control for Formations of Nonholonomic Kinematic Agents
TL;DR: In this article, the authors present solutions to the flocking and target interception problems of multiple nonholonomic unicycle-type robots using the distance-based framework, where control laws are designed at the kinematic level and are based on the rigidity properties of the graph modeling the sensing/communication interactions among the robots.
Journal ArticleDOI
3D Multi‐Agent Formation Control with Rigid Body Maneuvers
Pengpeng Zhang,Marcio de Queiroz +1 more
Proceedings ArticleDOI
Translational Maneuvering Control of Nonholonomic Kinematic Formations: Theory and Experiments
TL;DR: A control law is designed at the kinematic level and is based on the rigidity properties of the graph modeling the sensing/control interactions among the robots, which ensures exponential convergence to the desired formation while the formation maneuvers according to a desired, time-varying translational velocity.
References
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Proceedings ArticleDOI
A survey of consensus problems in multi-agent coordination
TL;DR: A survey of consensus problems in multi-agent cooperative control with the goal of promoting research in this area is provided in this paper, where theoretical results regarding consensus seeking under both time-invariant and dynamically changing information exchange topologies are summarized.
Proceedings ArticleDOI
Virtual leaders, artificial potentials and coordinated control of groups
Naomi Ehrich Leonard,E. Fiorelli +1 more
TL;DR: In this article, a framework for coordinated and distributed control of multiple autonomous vehicles using artificial potentials and virtual leaders is presented, where virtual leaders can be used to manipulate group geometry and direct the motion of the group.
Journal ArticleDOI
A coordination architecture for spacecraft formation control
TL;DR: A coordination architecture that subsumes leader-following, behavioral, and virtual-structure approaches to the multiagent coordination problem is introduced and illustrated through a detailed application of the ideas to the problem of synthesizing a multiple spacecraft interferometer in deep space.
Journal ArticleDOI
Passivity as a Design Tool for Group Coordination
TL;DR: A passivity-based design framework is developed, which results in a broad class of feedback rules that encompass as special cases some of the existing formation stabilization and group agreement designs in the literature.
Proceedings ArticleDOI
Stable flocking of mobile agents, part I: fixed topology
TL;DR: This first part generates stable flocking motion for the group using a coordination control scheme which gives rise to smooth control laws for the agents, ensuring collision avoidance and cohesion of the group and an aggregate motion along a common heading direction.
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