Title :
Necessary and sufficient graphical conditions for formation control of unicycles
Author :
Zhiyun Lin ; Francis, B. ; Maggiore, M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Toronto, Ont., Canada
Abstract :
The feasibility problem is studied of achieving a specified formation among a group of autonomous unicycles by local distributed control. The directed graph defined by the information flow plays a key role. It is proved that formation stabilization to a point is feasible if and only if the sensor digraph has a globally reachable node. A similar result is given for formation stabilization to a line and to more general geometric arrangements.
Keywords :
directed graphs; distributed control; mobile robots; multi-robot systems; stability; formation stabilization; globally reachable node; local distributed control; sensor digraph; unicycle formation control; Adaptive control; Automatic control; Control systems; Nonlinear control systems; Nonlinear systems; Output feedback; Polynomials; Robotics and automation; Robust control; Robustness; Distributed control; multiagent system; nonholonomic mobile robots;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2004.841121
