The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Equilibria and steering laws for planar formations
Open accessAbstract
Abstract This paper presents a Lie group setting for the problem of control of formations, as a natural outcome of the analysis of a planar two-vehicle formation control law. The vehicle trajectories are described using the planar Frenet–Serret equations of motion, which capture the evolution of both the vehicle position and orientation for unit-speed motion subject to curvature (steering) control. The set of all possible (relative) equilibria for arbitrary G -invariant curvature controls is described (where G = SE (2) is a symmetry group for the control law), and a global convergence result for the two-vehicle control law is proved. An n -vehicle generalization of the two-vehicle control law is also presented, and the corresponding (relative) equilibria for the n -vehicle problem are characterized. Work is on-going to discover stability and convergence results for the n -vehicle problem.
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Citations
Cites
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Jadbabaie, A., Lin, J., & Morse, A. S. (2003) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2003.812781 · Cited by 8,339
Cited by
Stability of multiagent systems with time-dependent communication links
Moreau, L. (2005) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2004.841888 · Cited by 2,706
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Bullo, F., Cortés, J., & Martínez, S. (2009) · Princeton University Press eBooks · doi:10.1515/9781400831470 · Cited by 1,509
Robust Rendezvous for Mobile Autonomous Agents via Proximity Graphs in Arbitrary Dimensions
Cortes, J., Martinez, S., & Bullo, F. (2006) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2006.878713 · Cited by 695
Motion Coordination with Distributed Information
(2007) · IEEE Control Systems · doi:10.1109/mcs.2007.384124 · Cited by 526
Stabilization of Planar Collective Motion: All-to-All Communication
Sepulchre, R., Paley, D. A., & Leonard, N. E. (2007) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2007.898077 · Cited by 517
Metadata
- Authors
- Justh, E. W., & Krishnaprasad, P. S.
- Venue
- Systems & Control Letters
- Publisher
- Elsevier BV
- Published
- 2004-05
- Volume
- 52
- Issue
- 1
- Pages
- 25-38
- ISSN
- 0167-6911 (ISSN-L)
- OpenAlex
- W2089724372
- Cited by
- 378
- References
- 1
- FWCI
- 18.77
- Type
- journal article
- Language
- en
- Open access
- green
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