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Formation specification control based on infinitesimal sign rigidity in 3-D space | IEEE Conference Publication | IEEE Xplore

Formation specification control based on infinitesimal sign rigidity in 3-D space


Abstract:

This paper studies a particular property of formation rigidity, which is termed infinitesimal sign rigidity, to specify multi-agent target formations using distance- and ...Show More

Abstract:

This paper studies a particular property of formation rigidity, which is termed infinitesimal sign rigidity, to specify multi-agent target formations using distance- and signed volume-constraints in 3-D space. In comparison with the conventional rigidity theory with distance constraints only, the concept of infinitesimal sign rigidity employs signed volume constraints to eliminate the possibility of formation ambiguity issues arising in 3-D space. Based on the property of infinitesimal sign rigidity, this paper explores a formation specification control law to achieve multi-agent formations with desired distances and signed volumes in 3-D space. It is shown that under the control law, agents close to a target formation can converge to a formation with desired distances and signed volumes exponentially fast.
Date of Conference: 04-07 May 2022
Date Added to IEEE Xplore: 20 July 2022
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Conference Location: Jeju, Korea, Republic of

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