Title :
Using orientation agreement to achieve planar rigid formation
Author :
Bai, He ; Arcak, Murat ; Wen, John T.
Author_Institution :
Dept. of Electr., Rensselaer Polytech. Inst., Troy, NY
Abstract :
We study a motion coordination problem where the objective is to steer group agents to move as a rigid body. We treat it as a joint orientation and formation control problem. We propose desired velocity and design decentralized feedback laws for each agent such that the rigid formation is guaranteed. Our design only employs relative information with respect to neighboring agents, and thus, can be implemented in a decentralized fashion.
Keywords :
decentralised control; feedback; motion control; position control; decentralized feedback; formation control; group agents; motion coordination problem; orientation agreement; orientation control; planar rigid formation; Angular velocity; Automation; Cats; Feedback control; Helium; Interferometry; Motion control; Robot kinematics; Systems engineering and theory; Time varying systems;
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2008.4586583
