Conference proceeding
Controlling a triangular formation of mobile autonomous agents
2007 46th IEEE Conference on Decision and Control, pp.3603-3608
12/2007
DOI: 10.1109/CDC.2007.4434757
Abstract
This paper proposes a distributed control law for maintaining a triangular formation in the plane consisting of three mobile autonomous agents. It is shown that the control law can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} triangular formation to converge exponentially fast to a desired positively-oriented {resp. negatively- oriented} triangular formation. It is also shown that there is a thin set of initially collinear formations which remain collinear and may drift off to infinity as t rarr infin. These findings complement and extend earlier findings cited below.
Details
- Title: Subtitle
- Controlling a triangular formation of mobile autonomous agents
- Creators
- M Cao - Yale UniversityA.S Morse - Yale UniversityC YuB.D.O AndersonS Dasgupta
- Resource Type
- Conference proceeding
- Publication Details
- 2007 46th IEEE Conference on Decision and Control, pp.3603-3608
- Publisher
- IEEE
- DOI
- 10.1109/CDC.2007.4434757
- ISSN
- 0191-2216
- Language
- English
- Date published
- 12/2007
- Academic Unit
- Electrical and Computer Engineering
- Record Identifier
- 9984197252402771
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