Using orientation agreement to achieve planar rigid formation

We study a motion coordination problem where the objective is to steer group agents to move as a rigid body. We treat it as a joint orientation and formation control problem. We propose desired velocity and design decentralized feedback laws for each agent such that the rigid formation is guaranteed. Our design only employs relative information with respect to neighboring agents, and thus, can be implemented in a decentralized fashion.

[1]  M. Areak,et al.  Passivity as a design tool for group coordination , 2006, 2006 American Control Conference.

[2]  Calin Belta,et al.  Motion generation for groups of robots: a centralized, geometric approach , 2002 .

[3]  Wei Ren,et al.  A Unified Formation Control Scheme with a Single or Multiple Leaders , 2007, 2007 American Control Conference.

[4]  M. Mesbahi,et al.  Formation flying control of multiple spacecraft via graphs, matrix inequalities, and switching , 1999, Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328).

[5]  Randal W. Beard,et al.  A coordination architecture for spacecraft formation control , 2001, IEEE Trans. Control. Syst. Technol..

[6]  R. Sepulchre,et al.  Oscillator Models and Collective Motion , 2007, IEEE Control Systems.

[7]  Dimos V. Dimarogonas,et al.  On the Rendezvous Problem for Multiple Nonholonomic Agents , 2007, IEEE Transactions on Automatic Control.

[8]  Naomi Ehrich Leonard,et al.  Virtual leaders, artificial potentials and coordinated control of groups , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[9]  George J. Pappas,et al.  Stable flocking of mobile agents, part I: fixed topology , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[10]  Kar-Han Tan,et al.  Virtual structures for high-precision cooperative mobile robotic control , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[11]  J.T. Wen,et al.  Group Coordination when the Reference Velocity is Available Only to the Leader: An Adaptive Design , 2007, 2007 American Control Conference.

[12]  Randal W. Beard,et al.  Synchronized multiple spacecraft rotations , 2002, Autom..

[13]  William B. Dunbar,et al.  Distributed receding horizon control for multi-vehicle formation stabilization , 2006, Autom..

[14]  John T. Wen,et al.  A decentralized design for group alignment and synchronous rotation without inertial frame information , 2007, 2007 46th IEEE Conference on Decision and Control.

[15]  Murat Arcak,et al.  Passivity as a Design Tool for Group Coordination , 2007, IEEE Transactions on Automatic Control.

[16]  E.M. Atkins,et al.  A survey of consensus problems in multi-agent coordination , 2005, Proceedings of the 2005, American Control Conference, 2005..

[17]  J. S-C,et al.  Probing Signals for Model Reference Identification , 1977 .