NDLI: Controlling triangular formations of autonomous agents in finite time using coarse measurements

Content Provider	IEEE Xplore Digital Library
Author	Hui Liu de Marina, H.G. Ming Cao
Copyright Year	2014
Description	Author affiliation: Inst. of Technol., Eng. & Manage., Univ. of Groningen, Groningen, Netherlands (de Marina, H.G.; Ming Cao) \|\| Sch. of Autom., Huazhong Univ. of Sci. & Technol., Wuhan, China (Hui Liu)
Abstract	This paper studies the performances of the popular gradient-based formation-control strategies for teams of autonomous agents when the agents' range measurements are coarse. Since the dynamics of the resulting closed-loop system are discontinuous, Filippov solutions to non-smooth dynamical systems are introduced. Similar to the existing stability results for triangular formations with precise range measurements, we prove that under coarse range measurements, the convergence to the desired formation is almost global except for initially collinearly positioned formations. More importantly, we are able to make stronger statements that the convergence takes place within finite time and that the settling time can be determined by the geometric information of the initial shape of the formation. Simulation and experimental results are provided to validate the theoretical analysis.
Starting Page	3601
Ending Page	3606
File Size	1236334
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907379
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Convergence Robots Sensors Vectors Stability analysis Autonomous agents Shape
Content Type	Text
Resource Type	Article

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