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Distributed coordination of dynamic rigid bodies | IEEE Conference Publication | IEEE Xplore

Distributed coordination of dynamic rigid bodies


Abstract:

This paper provides a design methodology to construct a set of distributed control laws for a group of rigid bodies moving in 3D space. The motion of the rigid bodies is ...Show More

Abstract:

This paper provides a design methodology to construct a set of distributed control laws for a group of rigid bodies moving in 3D space. The motion of the rigid bodies is restricted by a nonholonomic constraint that prohibits the agents from spinning around their velocity vectors. The connections between two seemingly different flocking control laws presented by Tanner et al. [1] and by Justh and Krishnaprasad [2] are studied, and it is shown that they are actually the same laws expressed in different coordinate systems. The former is expressed in the fixed world frame, whereas the latter is expressed in the moving body frame.
Date of Conference: 12-14 December 2007
Date Added to IEEE Xplore: 21 January 2008
ISBN Information:
Print ISSN: 0191-2216
Conference Location: New Orleans, LA, USA

References

References is not available for this document.