Controlling Four Agent Formations

Brian D.O Anderson; Changbin Yu; Soura Dasgupta; Tyler H Summers

doi:10.3182/20100913-2-FR-4014.00043

Back

Journal article

Open access

Peer reviewed

Controlling Four Agent Formations

Brian D.O Anderson, Changbin Yu, Soura Dasgupta and Tyler H Summers

IFAC Proceedings Volumes, Vol.43(19), pp.139-144

2010

DOI: 10.3182/20100913-2-FR-4014.00043

Files and links (1)

url

https://doi.org/10.3182/20100913-2-FR-4014.00043View

Published (Version of record) Open Access

Abstract

This paper considers formation shape control of a team of four point agents, for the most part in the plane. Control laws based on specified interagent distances are used. For a complete graph, specification of all interagent distances determines the formation shape uniquely. Krick, Broucke and Francis showed that for a now almost standard control law, there may exist equilibrium formation shapes with incorrect interagent distances. This paper studies such equilibria, shows that in some cases they are necessarily unstable.

Details

Title: Subtitle: Controlling Four Agent Formations
Creators: Brian D.O Anderson - Australian National University
Changbin Yu - Australian National University
Soura Dasgupta - University of Iowa
Tyler H Summers - University of Texas at Austin
Resource Type: Journal article
Publication Details: IFAC Proceedings Volumes, Vol.43(19), pp.139-144
DOI: 10.3182/20100913-2-FR-4014.00043
ISSN: 1474-6670
Language: English
Date published: 2010
Academic Unit: Electrical and Computer Engineering
Record Identifier: 9984197271802771

Metrics

8 Record Views