NDLI: Exact formation control with very coarse information

Content Provider	IEEE Xplore Digital Library
Author	Jafarian, M. De Persis, C.
Copyright Year	2013
Description	Author affiliation: Fac. of Math. & Natural Sci., Univ. of Groningen, Groningen, Netherlands (Jafarian, M.; De Persis, C.)
Abstract	This paper investigates a formation control problem for agents modeled as double integrators when very coarse information is exchanged. We assume that neighboring agents only know whether their relative position is larger or smaller than the prescribed one. The use of this binary information results in very simple control inputs that direct the agents closer or away from each other and take values in finite sets. We also show that the task of keeping a formation and tracking a reference velocity which is only known to the formation's leader is still achievable under the very coarse information scenario that we consider. In contrast with the other results of practical convergence with coarse or quantized information, here the control task is achieved exactly.
Starting Page	3026
Ending Page	3031
File Size	835165
Page Count	6
File Format	PDF
ISBN	9781479901777
ISSN	07431619
e-ISBN	9781479901784
DOI	10.1109/ACC.2013.6580295
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Vectors Convergence Trajectory Shape Sensors Damping Closed loop systems
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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