NDLI: Distance-based control of formations with orientation control

Content Provider	IEEE Xplore Digital Library
Author	Park, Myoung-Chul Ahn, Hyo-Sung
Copyright Year	2015
Description	Author affiliation: School of Mechatronics, Gwangju Institute of Science and Technology (GIST), 123 Cheomdan-gwagiro, Buk-gu, Gwangju, Republic of Korea (Park, Myoung-Chul; Ahn, Hyo-Sung)
Abstract	In this paper, we deal with formation stabilization of a group of mobile agents with orientation control. The proposed method is to combine usual distance-based control with displacement-based control so that the shape of the formation is dominantly controlled by distance-based control, and the orientation of the whole formation is forced to converge to the desired orientation by the additional displacement control input. We assume that the network topology is represented by an undirected graph and that the motion of each agent is simplified to a single-integrator model. We provide stability analysis for the desired formation shape, and four-agent systems are explored to understand asymptotic convergence of the agents. Simulation results are also included to verify our results.
Starting Page	2199
Ending Page	2204
File Size	162572
Page Count	6
File Format	PDF
e-ISBN	9781479978861
DOI	10.1109/CDC.2015.7402533
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-12-15
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Shape Stability analysis Position control Mobile agents Displacement control Convergence Simulation
Content Type	Text
Resource Type	Article

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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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