TY - GEN
T1 - Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance
AU - Tron, Roberto
AU - Thomas, Justin
AU - Loianno, Giuseppe
AU - Daniilidis, Kostas
AU - Kumar, Vijay
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/27
Y1 - 2016/12/27
N2 - We address the controller synthesis problem for distributed formation control. Our solution requires only relative bearing measurements (as opposed to full translations), and is based on the exact gradient of a Lyapunov function with only global minimizers (independently from the formation topology). These properties allow a simple proof of global asymptotic convergence, and extensions for including distance measurements, leaders and collision avoidance. We validate our approach through simulations and comparison with other stateof-the-art algorithms.
AB - We address the controller synthesis problem for distributed formation control. Our solution requires only relative bearing measurements (as opposed to full translations), and is based on the exact gradient of a Lyapunov function with only global minimizers (independently from the formation topology). These properties allow a simple proof of global asymptotic convergence, and extensions for including distance measurements, leaders and collision avoidance. We validate our approach through simulations and comparison with other stateof-the-art algorithms.
UR - http://www.scopus.com/inward/record.url?scp=85010723497&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85010723497&partnerID=8YFLogxK
U2 - 10.1109/CDC.2016.7798527
DO - 10.1109/CDC.2016.7798527
M3 - Conference contribution
AN - SCOPUS:85010723497
T3 - 2016 IEEE 55th Conference on Decision and Control, CDC 2016
SP - 1806
EP - 1813
BT - 2016 IEEE 55th Conference on Decision and Control, CDC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 55th IEEE Conference on Decision and Control, CDC 2016
Y2 - 12 December 2016 through 14 December 2016
ER -