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Formation control of mobile agent groups based on localization | IEEE Conference Publication | IEEE Xplore

Formation control of mobile agent groups based on localization


Abstract:

In this paper, we study localization based formation control of mobile agent groups by using relative and partial measurements. Though formation control and localization ...Show More

Abstract:

In this paper, we study localization based formation control of mobile agent groups by using relative and partial measurements. Though formation control and localization are linked to each other, they have separately been addressed in the literature. As a novel approach, we propose a formation control strategy based on localization information for single- and double-integrator modeled agent groups. Subsequently, we show that the formation of a single-integrator modeled agent group globally exponentially converges to the desired formation with the estimated formation globally exponentially converging to the actual formation up to translation if and only if the interaction graph of the group contains a spanning tree. Furthermore, we provide a necessary and sufficient condition for the global exponential convergence of the formation of a double-integrator modeled agent group to the desired formation. Simulation results validate the effectiveness of the proposed strategy.
Date of Conference: 28-30 September 2011
Date Added to IEEE Xplore: 17 October 2011
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Conference Location: Denver, CO, USA

References

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