Maintaining a directed, triangular formation of mobile autonomous agents

Brian Anderson; Ming Cao; Soura Dasgupta; A Stephen Morse; Changbin Yu

doi:10.4310/CIS.2011.v11.n1.a1

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Maintaining a directed, triangular formation of mobile autonomous agents

Journal article

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Maintaining a directed, triangular formation of mobile autonomous agents

Brian Anderson, Ming Cao, Soura Dasgupta, A Stephen Morse and Changbin Yu

Communications in Information and Systems, Vol.11(1), pp.1-16

2011

DOI: 10.4310/CIS.2011.v11.n1.a1

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Abstract

This paper analyzes a class of distributed control laws which encompasses and generalizes three previously considered types of control laws for maintaining a triangular formation in the plane consisting of three point-modeled, mobile autonomous agents. It is shown that the control laws considered can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} three agent formation to converge exponentially fast to a desired positively-oriented {resp. negativelyoriented} triangular formation. These findings extend earlier results and provide an alternative perspective.

Details

Title: Subtitle: Maintaining a directed, triangular formation of mobile autonomous agents
Creators: Brian Anderson
Ming Cao
Soura Dasgupta
A Stephen Morse
Changbin Yu
Resource Type: Journal article
Publication Details: Communications in Information and Systems, Vol.11(1), pp.1-16
DOI: 10.4310/CIS.2011.v11.n1.a1
ISSN: 1526-7555
eISSN: 2163-4548
Publisher: International Press
Language: English
Date published: 2011
Academic Unit: Electrical and Computer Engineering
Record Identifier: 9984083260202771

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