Bearing-Only Control Laws For Balanced Circular
dc.contributor.author | Moshtagh, Nima | |
dc.contributor.author | Michael, Nathan | |
dc.contributor.author | Jadbabaie, Ali | |
dc.contributor.author | Daniilidis, Kostas | |
dc.date | 2023-05-17T03:08:13.000 | |
dc.date.accessioned | 2023-05-22T19:19:52Z | |
dc.date.available | 2023-05-22T19:19:52Z | |
dc.date.issued | 2008-06-28 | |
dc.date.submitted | 2009-09-23T08:02:48-07:00 | |
dc.description.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. | |
dc.description.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 | |
dc.identifier.uri | https://repository.upenn.edu/handle/20.500.14332/34824 | |
dc.legacy.articleid | 1007 | |
dc.legacy.fulltexturl | https://repository.upenn.edu/cgi/viewcontent.cgi?article=1007&context=grasp_papers&unstamped=1 | |
dc.source.issue | 7 | |
dc.source.journal | Lab Papers (GRASP) | |
dc.source.status | published | |
dc.title | Bearing-Only Control Laws For Balanced Circular | |
dc.type | Presentation | |
digcom.contributor.author | isAuthorOfPublication|email:nima@grasp.upenn.edu|institution:University of Pennsylvania|Moshtagh, Nima | |
digcom.contributor.author | isAuthorOfPublication|email:nmichael@seas.upenn.edu|institution:University of Pennsylvania|Michael, Nathan | |
digcom.contributor.author | isAuthorOfPublication|email:jadbabai@seas.upenn.edu|institution:University of Pennsylvania|Jadbabaie, Ali | |
digcom.contributor.author | isAuthorOfPublication|email:kostas@cis.upenn.edu|institution:University of Pennsylvania|Daniilidis, Kostas | |
digcom.identifier | grasp_papers/7 | |
digcom.identifier.contextkey | 1013856 | |
digcom.identifier.submissionpath | grasp_papers/7 | |
digcom.type | conference | |
dspace.entity.type | Publication | |
relation.isAuthorOfPublication | 62773f80-5e47-470d-9170-ee35a0cfd699 | |
relation.isAuthorOfPublication | 1ff255c0-a4e3-48d1-8752-decf4186b3d1 | |
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relation.isAuthorOfPublication | 574a5664-4b50-4ef6-9fb5-b7ec211cc7ae | |
relation.isAuthorOfPublication.latestForDiscovery | 62773f80-5e47-470d-9170-ee35a0cfd699 | |
upenn.schoolDepartmentCenter | Lab Papers (GRASP) |
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