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Distributed Control...
Distributed Control of Triangular Sensor Formations with Angle-Only Constraints
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- Basiri, Meysam (författare)
- KTH,Datorseende och robotik, CVAP
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- Bishop, Adrian N. (författare)
- KTH,Datorseende och robotik, CVAP
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- Jensfelt, Patric (författare)
- KTH,Centrum för Autonoma System, CAS,Datorseende och robotik, CVAP
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(creator_code:org_t)
- NEW YORK : IEEE, 2009
- 2009
- Engelska.
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Ingår i: 2009 INTERNATIONAL CONFERENCE ON INTELLIGENT SENSORS, SENSOR NETWORKS AND INFORMATION PROCESSING (ISSNIP 2009). - NEW YORK : IEEE. - 9781424435173 ; , s. 121-126
- Relaterad länk:
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https://urn.kb.se/re...
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visa fler...
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https://doi.org/10.1...
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visa färre...
Abstract
Ämnesord
Stäng
- This paper considers the coupled formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to its neighbors. The problem considered in this paper differs from similar problems in the literature since no inter-agent distance measurements are employed and the desired formation is specified entirely by the internal triangle angles. Each agent's control law is distributed and based only on its locally measured bearings. A convergence result is established which guarantees global convergence of the formation to the desired formation shape.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences (hsv//eng)
Nyckelord
- Angle constraints
- bearing-only measurements
- distributed control
- formation control
- multi-agent systems
- Information technology
- Informationsteknik
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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