Bearing-Only Formation Control for Cascade Multirobots
نویسندگان
چکیده
منابع مشابه
Formation Control and Guidance using Bearing-only Measurements
In this thesis, we study formation control and guidance algorithms using only bearing measurements. First, an angle based leader–follower formation control problem is considered. In this problem, there are three leaders which have access to their own global positions. The other agents are followers which sense relative bearing measurements with regard to three neighbors. We propose a control st...
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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 eith...
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Pattern formation is a useful behaviour for a swarm of robots in order to maximize their efficiency at tasks such as surveying. Previous pattern formation algorithms have relied upon various combinations of measurements (bearing, distance, heading, unique identity) of swarm mates as inputs. The ability to measure distance, heading, and identity requires significant sensory and computational cap...
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This paper studies distributed control of bearing-constrained multiagent formations using bearing-only measurements. In order to analyze bearing-constrained formations, we first present a bearing rigidity theory that is applicable to arbitrary dimensions. Based on the proposed bearing rigidity theory, we investigate distributed bearing-only formation control in arbitrary dimensions in the prese...
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ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2016
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2016/5320954