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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2019
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/1901.10564 |
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| _version_ | 1866909435189788672 |
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| author | Liu, Tairan de Queiroz, Marcio Zhang, Pengpeng Khaledyan, Milad |
| author_facet | Liu, Tairan de Queiroz, Marcio Zhang, Pengpeng Khaledyan, Milad |
| contents | In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance and area-based scheme for the formation control of $n$-agent systems in two dimensions using directed graphs and the single-integrator model. We show that under certain conditions on the edge lengths of the triangulated desired formation, the control ensures almost-global convergence to the correct formation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_1901_10564 |
| institution | arXiv |
| publishDate | 2019 |
| record_format | arxiv |
| spellingShingle | Directed Formation Control of n Planar Agents with Distance and Area Constraints Liu, Tairan de Queiroz, Marcio Zhang, Pengpeng Khaledyan, Milad Multiagent Systems Systems and Control In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance and area-based scheme for the formation control of $n$-agent systems in two dimensions using directed graphs and the single-integrator model. We show that under certain conditions on the edge lengths of the triangulated desired formation, the control ensures almost-global convergence to the correct formation. |
| title | Directed Formation Control of n Planar Agents with Distance and Area Constraints |
| topic | Multiagent Systems Systems and Control |
| url | https://arxiv.org/abs/1901.10564 |