Bearing-Only Control Laws For Balanced Circular

Loading...
Thumbnail Image
Penn collection
Lab Papers (GRASP)
Degree type
Discipline
Subject
Funder
Grant number
License
Copyright date
Distributor
Related resources
Contributor
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.

Advisor
Date of presentation
2008-06-28
Conference name
Lab Papers (GRASP)
Conference dates
2023-05-17T03:08:13.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Journal Issue
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
Recommended citation
Collection