DocumentCode
2249435
Title
Steering laws for distributed motion coordination of kinematic agents in three dimensions
Author
Moshtagh, Nima ; Jadbabaie, Ali
Author_Institution
GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA, USA
fYear
2008
fDate
9-11 Dec. 2008
Firstpage
1741
Lastpage
1746
Abstract
We develop a systematic approach to synthesize distributed control laws for motion coordination in a group of constant-speed kinematic rigid bodies. Parallel and balanced circular formations of mobile agents moving in a three dimensional space are studied, and provably correct steering laws are presented. The resulting steering laws have simple geometric intuitions which are based on the structure of each particular formation.
Keywords
distributed control; mobile robots; motion control; multi-robot systems; robot kinematics; steering systems; balanced circular formation; constant-speed kinematic rigid body; distributed control law synthesis; distributed motion coordination; mobile agent; parallel circular formation; steering law; systematic approach; three dimensional space; Centralized control; Control system synthesis; Convergence; Distributed control; Laboratories; Mobile agents; Motion control; Multiagent systems; Robot kinematics; Shape control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location
Cancun
ISSN
0191-2216
Print_ISBN
978-1-4244-3123-6
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2008.4739155
Filename
4739155
Link To Document