Moshtagh, Nima

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  • Publication
    Steering laws for distributed motion coordination of kinematic agents in three dimensions
    (2008-12-09) Moshtagh, Nima; Jadbabaie, Ali
    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.