Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges
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This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptic shape and limited sensing ranges to perform a desired formation and that 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 explicit algebraic separation conditions between ellipses, root conditions of cubic polynomials, the Lyapunov direct method, and smooth or p-times differentiable step functions. These functions are incorporated into novel potential functions to solve the collision avoidance problem without the need for switchings despite the agents’ limited sensing ranges.
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Do, Khac Duc (2011)Cooperative controllers are designed to force a group of N mobile agents with limited communication using only relative position between the agents to form a desired formation structure. The centre of the formation structure ...
Do, Khac Duc (2013)A constructive design of bounded formation controllers is proposed to force N mobile agents with second-order dynamics to track N reference trajectories and to avoid collision between them. Instead of a prior assignation ...
Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient ClimbingDo, Khac (2012)A design of cooperative controllers that force a group of N mobile agents with limited communication ranges to perform a desired formation is presented. The proposed formation control system also preserves initial ...