Bearing-Only Control Laws For Balanced Circular

For a group of constant-speed ground robots, a simple control law is designed to stabilize the motion of the group into a balanced circular formation using a consensus approach. It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanced circular formation. We consider two different scenarios that the connectivity graph of the system is either a complete graph or a ring. Collision avoidance capabilities are added to the team members and the effectiveness of the control laws are demonstrated on a group of mobile robots. Comments Reprinted from: Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots. Nima Moshtagh, Nathan Michael, Ali Jadbabaie, Kostas Daniilidis. Presented at Robotics: Science and Systems IV, June 25-28, 2008. Eidgenossiche Technische Hochschule Zurich (ETHZ), Zurich, Switzerland URL: http://www.roboticsproceedings.org/rss04/p16.pdf This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/grasp_papers/7 Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots Nima Moshtagh, Nathan Michael, Ali Jadbabaie, Kostas Daniilidis GRASP Laboratory University of Pennsylvania, Philadelphia, PA 19104 Email: {nima, nmichael, jadbabai, kostas} @grasp.upenn.edu Abstract— For a group of constant-speed ground robots, a simple control law is designed to stabilize the motion of the group into a balanced circular formation using a consensus approach. It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanced circular formation. We consider two different scenarios that the connectivity graph of the system is either a complete graph or a ring. Collision avoidance capabilities are added to the team members and the effectiveness of the control laws are demonstrated on a group of mobile robots. For a group of constant-speed ground robots, a simple control law is designed to stabilize the motion of the group into a balanced circular formation using a consensus approach. It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanced circular formation. We consider two different scenarios that the connectivity graph of the system is either a complete graph or a ring. Collision avoidance capabilities are added to the team members and the effectiveness of the control laws are demonstrated on a group of mobile robots.

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