Lab Papers (GRASP)

Document Type

Conference Paper

Date of this Version

6-28-2008

Comments

Reprinted from:
Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots. Nima Moshtagh, Nathan Michael, Ali Jadbabaie, Kostas Daniilidis. Presented at Robotics: Science and Systems IV, June 25-28, 2008. Eidgenössiche Technische Hochschule Zürich (ETHZ), Zurich, Switzerland
URL: http://www.roboticsproceedings.org/rss04/p16.pdf

Abstract

For a group of constant-speed ground robots, a simple control law is designed to stabilize the motion of the group into a balanced circular formation using a consensus approach. It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanced circular formation. We consider two different scenarios that the connectivity graph of the system is either a complete graph or a ring. Collision avoidance capabilities are added to the team members and the effectiveness of the control laws are demonstrated on a group of mobile robots.

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Date Posted: 23 September 2009