Formation control of multiple elliptical agents with limited sensing ranges
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NOTICE: this is the author’s version of a work that was accepted for publication in Automatica. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Automatica, Vol. 48, no.7 (2012). DOI: 10.1016/j.automatica.2012.04.005.
This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptical shape and with limited sensing ranges to perform a desired formation. The controllers guarantee no collisions between any agents in the group. The desired formation can be stabilized at feasible reference trajectories with bounded time derivatives. The formation control design is based on an algebraic separation condition between ellipses, Lyapunov’s method, and smooth or p-times differentiable step functions. These functions are introduced and incorporated into novel potential functions to solve the collision avoidance problem without the need for switchings under the agents’ limited sensing ranges.
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