DocumentCode
434671
Title
Feasibility for formation stabilization of multiple unicycles
Author
Lin, Zhiyun ; Francis, Bruce ; Maggiore, Manfredi
Author_Institution
Dept. of Electr. & Comput. Eng., Toronto Univ., Ont., Canada
Volume
3
fYear
2004
fDate
14-17 Dec. 2004
Firstpage
2447
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. Necessary and sufficient conditions are presented for formation stabilization of multiple unicycles to a point and a line. A similar result is given for formation stabilization to more general geometric arrangements with the condition that a group of unicycles have a common sense of direction.
Keywords
automatic guided vehicles; bicycles; directed graphs; distributed control; multi-robot systems; autonomous unicycles; directed graph; feasibility problem; formation stabilization; geometric arrangements; information flow; local distributed control; multiple unicycles; Autonomous agents; Communication system control; Control systems; Convergence; Distributed control; Mobile robots; Remotely operated vehicles; Robot kinematics; Sufficient conditions; Topology;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2004. CDC. 43rd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-8682-5
Type
conf
DOI
10.1109/CDC.2004.1428776
Filename
1428776
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