Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints

Complexity:1-13 (2017)
  Copy   BIBTEX

Abstract

This paper presents two formation tracking control strategies for a combined set of single and double integrator agents with an arbitrary undirected communication topology. The first approach is based on the design of distance-based potential functions with interagent collision avoidance using local information about the distance and orientation between agents and the desired trajectory. The second approach adds signed area constraints to the desired formation specification and a control strategy that uses distance as well as area terms is designed to achieve tracking convergence. Numerical simulations show the performance from both control laws.

Other Versions

No versions found

Links

PhilArchive



    Upload a copy of this work     Papers currently archived: 100,561

External links

Setup an account with your affiliations in order to access resources via your University's proxy server

Through your library

Similar books and articles

Analytics

Added to PP
2017-10-25

Downloads
30 (#727,004)

6 months
8 (#533,737)

Historical graph of downloads
How can I increase my downloads?