Guardado en:
| Autores principales: | , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2019
|
| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/1901.10564 |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
Tabla de Contenidos:
- 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.