Bearing-Only Control Laws For Balanced Circular

dc.contributor.authorMoshtagh, Nima
dc.contributor.authorMichael, Nathan
dc.contributor.authorJadbabaie, Ali
dc.contributor.authorDaniilidis, Kostas
dc.date2023-05-17T03:08:13.000
dc.date.accessioned2023-05-22T19:19:52Z
dc.date.available2023-05-22T19:19:52Z
dc.date.issued2008-06-28
dc.date.submitted2009-09-23T08:02:48-07:00
dc.description.abstractFor 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.commentsReprinted 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.urihttps://repository.upenn.edu/handle/20.500.14332/34824
dc.legacy.articleid1007
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1007&context=grasp_papers&unstamped=1
dc.source.issue7
dc.source.journalLab Papers (GRASP)
dc.source.statuspublished
dc.titleBearing-Only Control Laws For Balanced Circular
dc.typePresentation
digcom.contributor.authorisAuthorOfPublication|email:nima@grasp.upenn.edu|institution:University of Pennsylvania|Moshtagh, Nima
digcom.contributor.authorisAuthorOfPublication|email:nmichael@seas.upenn.edu|institution:University of Pennsylvania|Michael, Nathan
digcom.contributor.authorisAuthorOfPublication|email:jadbabai@seas.upenn.edu|institution:University of Pennsylvania|Jadbabaie, Ali
digcom.contributor.authorisAuthorOfPublication|email:kostas@cis.upenn.edu|institution:University of Pennsylvania|Daniilidis, Kostas
digcom.identifiergrasp_papers/7
digcom.identifier.contextkey1013856
digcom.identifier.submissionpathgrasp_papers/7
digcom.typeconference
dspace.entity.typePublication
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relation.isAuthorOfPublication95dc0435-14d6-4be3-bab9-2e5df414f867
relation.isAuthorOfPublication574a5664-4b50-4ef6-9fb5-b7ec211cc7ae
relation.isAuthorOfPublication.latestForDiscovery62773f80-5e47-470d-9170-ee35a0cfd699
upenn.schoolDepartmentCenterLab Papers (GRASP)
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