Title :
Formation control of mobile agents without an initial common sense of orientation
Author :
Kwang-Kyo Oh ; Hyo-Sung Ahn
Author_Institution :
Sch. of Inf. & Mechatron., Gwangju Inst. of Sci. & Technol., Gwangju, South Korea
Abstract :
In this paper, we study formation control of single-integrator modeled agents in the plane. The agents maintain their own local reference frames, whose orientations are not aligned due to the lack of a common sense of orientation. Assuming that the agents measure the relative positions of their neighbors and exchange their local information with their neighbors, we propose an orientation estimation, a position estimation, and a position control law to achieve the desired formation. If the graph associated with the agents has a spanning tree and all initial orientation angles belong to an interval with length less than π, the orientations are exponentially estimated up to translation, the estimated position exponentially converges to actual position up to congruence, and the desired formation is asymptotically achieved up to congruence.
Keywords :
estimation theory; mobile agents; formation control; initial common sense of orientation; mobile agents; orientation estimation; position control law; position estimation; single integrator modeled agents; spanning tree; Convergence; Estimation; Mobile agents; Nickel; Position control; Position measurement; Vectors;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6427069