Lab Papers (GRASP)
Document Type
Conference Paper
Date of this Version
6-28-2008
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.
Recommended Citation
Nima Moshtagh, Nathan Michael, Ali Jadbabaie, and Kostas Daniilidis, "Bearing-Only Control Laws For Balanced Circular", . June 2008.
Date Posted: 23 September 2009
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