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Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization

Shiyu Zhao, Daniel Zelazo
2016 IEEE Transactions on Automatic Control  
Nonlinear distributed bearing-only formation control laws are proposed for the cases with and without a global orientation.  ...  It is proved that the control laws can almost globally stabilize infinitesimally bearing rigid formations. Numerical simulations are provided to support the analysis.  ...  INTRODUCTION Multi-agent formation control has been studied extensively in recent years with distance-constrained formation control taking a prominent role [1] - [6] .  ... 
doi:10.1109/tac.2015.2459191 fatcat:ab2xk7llbbes3fkmtfuw4utvee

Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure

Minh Hoang Trinh, Shiyu Zhao, Zhiyong Sun, Daniel Zelazo, Brian D.O. Anderson, Hyo-Sung Ahn
2018 IEEE Transactions on Automatic Control  
., Zhao, S. orcid.org/0000-0003-3098-8059, Sun, Z. et al. (3 more authors) (2018) Bearing-based formation control of a group of agents with leader-first follower structure.  ...  IEEE Transactions on Automatic Control.  ...  Firstly, for l = 2, we have p 2 = p * 2a is almost globally asymptotically stable and p 2 = p * 2b is unstable based on Lemma 4. Thus, Theorem 1 is true for l = 2.  ... 
doi:10.1109/tac.2018.2836022 fatcat:5edc7w2fmnbkbfpyejdip57f3q

Distributed control of triangular formations with angle-only constraints

Meysam Basiri, Adrian N. Bishop, Patric Jensfelt
2010 Systems & control letters (Print)  
The control law is distributed and accordingly each agent can determine their own control law using only the locally measured bearings.  ...  A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape.  ...  The authors would like to thank the reviewers and editors for their insightful comments which have significantly improved the presentation of our work.  ... 
doi:10.1016/j.sysconle.2009.12.010 fatcat:crpwkfairjh6parhkcc4abypqm

Control Analysis and Feedback Techniques for Multi Agent Robots [chapter]

Salman Ahmed, Mohd Noh, Robert N. K. Loh
2009 Multiagent Systems  
Acknowledgements The authors would like to thank the Malaysian Ministry of Science, Technology and Innovation for funding this research project through IRPA grant 04-99-02-0003-EA001.  ...  controllers for SBC formation www.intechopen.com Control Analysis and Feedback Techniques for Multi Agent Robots 105 states that if v d > 0, then the system is locally asymptotically stable.  ...  The follower agents follow the leader agent with a desired distance and separation bearing angle. The leader agent is responsible for guiding the formation.  ... 
doi:10.5772/6597 fatcat:qxeo5vr6g5ek5e63yoyyefpo3y

Distributed control of triangular sensor formations with angle-only constraints

Meysam Basiri, Adrian N. Bishop, Patric Jensfelt
2009 2009 International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP)  
Each agent's control law is distributed and based only on its locally measured bearings.  ...  This paper considers the coupled formation control of three mobile agents moving in the plane.  ...  INTRODUCTION This paper presents a distributed control system for triangular formation control based only on local bearing measurements and relative angular constraints.  ... 
doi:10.1109/issnip.2009.5416849 fatcat:6mhjabw3knh6dhzqjafig2yqja

Bearing-only circumnavigation control of the multi-agent system around a moving target

Xiangke Wang, Zhongkui Li, Yangguang Yu, Lincheng Shen
2019 IET Control Theory & Applications  
The bearing-based coordinated circumnavigation control for networked multi-agent systems with only bearing measurements in the presence of moving target is studied.  ...  First, a distributed algorithm is proposed to estimate the target's velocity and the distances between the agents and the target, based on the velocity and the bearing information of the local network.  ...  A distributed algorithm has been designed for the circumnavigating agent to estimate its distance to the target as well as the target's velocity, based on the local bearing and velocity information.  ... 
doi:10.1049/iet-cta.2018.6133 fatcat:7zsdgkvp4vf7hmw5ep6ca3wnoi

Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots

Nima Moshtagh, Nathan Michael, Ali Jadbabaie, Kostas Daniilidis
2008 Robotics: Science and Systems IV  
It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanced circular formation.  ...  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.  ...  Therefore the equilibria are given by either p = 0, or p ⊥ v i for all i ∈ {1, . . . , n}. p = 0 is the global minimum of w(z) and is asymptotically stable.  ... 
doi:10.15607/rss.2008.iv.016 dblp:conf/rss/MoshtaghMJD08 fatcat:egwqis4l4verlfaswtdlt64hom

Weak Rigidity Theory and its Application to Multi-agent Formation Stabilization [article]

Gangshan Jing, Guofeng Zhang, Heung Wing Joseph Lee, Long Wang
2018 arXiv   pre-print
In particular, if the number of agents is one greater than the dimension of the space, a minimally infinitesimally weakly rigid formation is almost globally asymptotically stable.  ...  As an application of the proposed weak rigidity theory, a gradient based control law and a non-gradient based control law are designed for a group of single-integrator modeled agents to stabilize a desired  ...  The authors would like to thank one of the reviewers for pointing out Reference [27] in the second round of review.  ... 
arXiv:1804.02795v1 fatcat:zapjbtnxqrhmjgpx4nk6f7fzfm

A Revisit to Gradient-Descent Bearing-Only Formation Control

Shiyu Zhao, Zhenhong Li, Zhengtao Ding
2018 2018 IEEE 14th International Conference on Control and Automation (ICCA)  
This paper addresses the problem of bearing-only formation control of multi-agent systems, where each agent can merely obtain the relative bearing measurements of their neighbor neighbors whereas relative  ...  The new stability analysis reveals some new properties of the control law such as exponential convergence rate and lays a foundation for deriving new bearing-only control laws in the future.  ...  INTRODUCTION This paper studies multi-agent formation control that aims to steer a group of agents to form a desired geometric pattern in a distributed manner.  ... 
doi:10.1109/icca.2018.8444304 dblp:conf/icca/ZhaoLD18 fatcat:5b7omw4p7fdgbfa7osmwrobgqm

Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots

N. Moshtagh, N. Michael, A. Jadbabaie, K. Daniilidis
2009 IEEE Transactions on robotics  
Inspired by social aggregation phenomena such as flocking and schooling in birds and fish, we develop vision-based control laws for parallel and circular formations using a consensus approach.  ...  Index Terms-Distributed coordination, cooperative control, vision-based control. * The authors are with the GRASP  ...  Furthermore, for our vision-based controllers no distance measurement is required. In [29] , [36] circular formations of a multi-vehicle system under cyclic pursuit is studied.  ... 
doi:10.1109/tro.2009.2022439 fatcat:5cz23cfkqjavva6jdbqodk7k2q

Formation shape control based on bearing rigidity

Tolga Eren
2012 International Journal of Control  
Distance measurements are not the only geometric quantities that can be used for multi-agent formation shape control. Bearing measurements can be used in conjunction with distances.  ...  Bearing-based shape control for a formation of mobile agents involves the design of distributed control laws that ensure the formation moves, so that bearing constraints maintain some desired values.  ...  Monitoring, Control and Security of Critical Infrastructure Systems.'  ... 
doi:10.1080/00207179.2012.685183 fatcat:5zqqsg4b4nehlbgqfi62a6e2ce

Event-triggered encirclement control of multi-agent systems with bearing rigidity

Yangguang Yu, Zhiwen Zeng, Zhongkui Li, Xiangke Wang, Lincheng Shen
2017 Science China Information Sciences  
In many existing control methods for the multi-agent systems, a high control and communication frequency among agents is usually required in order to pursue a high control accuracy.  ...  Ref. [17] presented both centralized and decentralized form of event-triggered control for multi-agent system to solve several control problems.  ...  Further, e-subsystem is global asymptotic stable. Therefore, the δ-subsystem is also global asymptotic stable and lim t→∞ c(t) → p T .  ... 
doi:10.1007/s11432-017-9109-9 fatcat:tfxwyemuhrbbrd77c3szo766ge

Target Centric Cyclic Pursuit using Bearing Angle Measurements Only

Sangeeta Daingade, Arpita Sinha
2014 IFAC Proceedings Volumes  
The strategy needs only bearing angle information of the target and that of only one of the neighbor vehicle. We have considered simple kinematic model for each vehicle.  ...  This paper presents a cyclic pursuit based strategy for monitoring a stationary target with multiple autonomous vehicles.  ...  Moshtagh et al. (2009) have proposed a vision based control law for achieving circular formation which needs only bearing angle information of the neighbors.  ... 
doi:10.3182/20140313-3-in-3024.00118 fatcat:wxfh4vy2qjhkvgnxwzcnj6u4vm

Bearing-Only Consensus and Formation Control under Directed Topologies [article]

Arman Karimian, Roberto Tron
2019 arXiv   pre-print
We address the problems of bearing-only consensus and formation control, where each agent can only measure the relative bearings of its neighbors and relative distances are not available.  ...  Finally, For the directed formation control problem we prove asymptotic convergence for directed cycles and directed acyclic graphs and also introduce a new notion of bearing persistence which guarantees  ...  INTRODUCTION Distributed and cooperative control of multi-agent systems using relative bearing measurements has gained a growing interest in recent years [3] , [12] , [13] , [17] .  ... 
arXiv:1910.00183v1 fatcat:e444tf4zavbllfr5jy5zxtzaqm

Automatic formation deployment of decentralized heterogeneous multi-robot networks with limited sensing capabilities

Brian Stephen Smith, Jiuguang Wang, Magnus Egerstedt, Ayanna Howard
2009 2009 IEEE International Conference on Robotics and Automation  
Heterogeneous multi-robot networks require novel tools for applications that require achieving and maintaining formations.  ...  This is the case for distributing sensing devices with heterogeneous mobile sensor networks. Here, we consider a heterogeneous multi-robot network of mobile robots.  ...  of agent l is continuous and, ∀t ∈ T , u l (t) ≤ u max . • p l is a globally asymptotically stable equilibrium point of x l .  ... 
doi:10.1109/robot.2009.5152517 dblp:conf/icra/SmithWEH09 fatcat:zrwmpimuancrbfpkcdh724egxy
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