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
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;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4739155
