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    Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges

    Access Status
    Fulltext not available
    Authors
    Do, Khac
    Date
    2012
    Type
    Journal Article
    
    Metadata
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    Citation
    Do, K.D. 2012. Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges. Asian Journal of Control. 14 (6): pp. 1514-1526.
    Source Title
    Asian Journal of Control
    DOI
    10.1002/asjc.447
    ISSN
    1561-8625
    URI
    http://hdl.handle.net/20.500.11937/47683
    Collection
    • Curtin Research Publications
    Abstract

    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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