2010
DOI: 10.5120/527-689
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A New Algorithm for Motion Control of Leader-Follower Formation of Mobile Autonomous Agents

Abstract: This paper presents a motion control strategy for a rigid and constraint consistent formation that can be modeled by a directed graph whose each vertex represents individual agent kinematics and each of directed edges represents distance constraints maintained by an agent, called follower, to its neighbouring agents. A rigid and constraint consistent graph is called persistent graph. A persistent graph is minimally persistent if it is persistent and no edge can be removed without losing its persistence. An acy… Show more

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