Loading [a11y]/accessibility-menu.js
Formation Control and Network Localization via Orientation Alignment | IEEE Journals & Magazine | IEEE Xplore

Formation Control and Network Localization via Orientation Alignment


Abstract:

We propose a formation control strategy based on inter-agent displacements for single-integrator modeled agents in the plane. Since the orientations of the local referenc...Show More

Abstract:

We propose a formation control strategy based on inter-agent displacements for single-integrator modeled agents in the plane. Since the orientations of the local reference frames of the agents are not aligned with each other due to the absence of a common sense of orientation, the proposed strategy consists of an orientation alignment law and a formation control law. Under the proposed strategy, if the interaction graph is uniformly connected and all the initial orientation angles belong to an interval with length less than π, the orientations are exponentially aligned and the formation exponentially converges to the desired formation. We also show that the proposed strategy can be utilized for network localization as a dual problem.
Published in: IEEE Transactions on Automatic Control ( Volume: 59, Issue: 2, February 2014)
Page(s): 540 - 545
Date of Publication: 11 July 2013

ISSN Information:


References

References is not available for this document.