Further results on formation infeasibility and velocity alignment

Dimos V. Dimarogonas; Kostas J. Kyriakopoulos

doi:10.1109/CDC.2007.4434680

Further results on formation infeasibility and velocity alignment

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In previous work, we deduced that formation infeasibility results in velocity alignment in multi-agent systems with bidirectional communication topology and single integrator as well as nonholonomic kinematics. This paper contains additional results regarding the connection between formation infeasibility and velocity alignment. In particular, we obtain an analytic expression for the resulting common velocity vector in the case of formation infeasibility and extend the results to the case of unidirectional communication topology. The results are then extended to the case of a leader-follower architecture in which the followers are not aware of a global objective while the leaders are responsible for driving the team to the interior of a desired leader formation. When this formation is infeasible, we show that both leaders and followers attain a common velocity vector, of which an analytic expression is also provided. Computer simulations support the derived results.

Original language	English (US)
Title of host publication	Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1447-1452
Number of pages	6
ISBN (Print)	1424414989, 9781424414987
DOIs	https://doi.org/10.1109/CDC.2007.4434680
State	Published - 2007
Event	46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States Duration: Dec 12 2007 → Dec 14 2007

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	46th IEEE Conference on Decision and Control 2007, CDC
Country/Territory	United States
City	New Orleans, LA
Period	12/12/07 → 12/14/07

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/CDC.2007.4434680

Cite this

Dimarogonas, D. V., & Kyriakopoulos, K. J. (2007). Further results on formation infeasibility and velocity alignment. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 1447-1452). Article 4434680 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2007.4434680

Further results on formation infeasibility and velocity alignment. / Dimarogonas, Dimos V.; Kyriakopoulos, Kostas J.
Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Institute of Electrical and Electronics Engineers Inc., 2007. p. 1447-1452 4434680 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dimarogonas, DV & Kyriakopoulos, KJ 2007, Further results on formation infeasibility and velocity alignment. in Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC., 4434680, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 1447-1452, 46th IEEE Conference on Decision and Control 2007, CDC, New Orleans, LA, United States, 12/12/07. https://doi.org/10.1109/CDC.2007.4434680

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Further results on formation infeasibility and velocity alignment

Abstract

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