Departmental Papers (ESE)

Document Type

Conference Paper

Date of this Version

12-9-2008

Comments

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.

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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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Date Posted: 21 May 2009