DocumentCode
2381788
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
fYear
2008
fDate
11-13 June 2008
Firstpage
753
Lastpage
758
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2008
Conference_Location
Seattle, WA
ISSN
0743-1619
Print_ISBN
978-1-4244-2078-0
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2008.4586583
Filename
4586583
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