Steering laws for distributed motion coordination of kinematic agents in three dimensions
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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
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Abstract
We develop a systematic approach to synthesize distributed control laws for motion coordination in a group of constant-speed kinematic rigid bodies. Parallel and balanced circular formations of mobile agents moving in a three dimensional space are studied, and provably correct steering laws are presented. The resulting steering laws have simple geometric intuitions which are based on the structure of each particular formation.
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2008-12-09
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Departmental Papers (ESE)
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2023-05-17T02:54:01.000
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Moshtagh, N.; Jadbabaie, A., "Steering laws for distributed motion coordination of kinematic agents in three dimensions," Decision and Control, 2008. CDC 2008. 47th IEEE Conference on , vol., no., pp.1741-1746, 9-11 Dec. 2008 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4739155&isnumber=4738560 Copyright 2008 IEEE. Reprinted from Proceedings of the 47th IEEE Conference on Decision and Control, 2008 (CDC 2008), vol., no., pp.1741-1746, 9-11 Dec. 2008. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.