Bearing-only triangular formation control on the plane and the sphere

Bishop, Adrian N.; Basiri, Meysam

doi:10.1109/med.2010.5547774

Cited by 32 publications

(29 citation statements)

References 11 publications

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“…Formation control with bearing-only measurements (and/or desired inter-agent constraints) has been studied in [10]- [18]. Formation control with heterogenous sensing (and/or constraints) has also been considered [19], [20].…”

Section: A Contributionmentioning

confidence: 99%

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Controlling the shape and scale of triangular formations using landmarks and bearing-only sensing

Manuel

Bishop

Anderson

et al. 2016

2016 35th Chinese Control Conference (CCC)

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Abstract-This work considers the scenario where three agents that can sense only bearings use two landmarks to control their formation shape. We define a method of relating the known distance separating the landmarks back to the edge lengths of the triangular formation. The result is used to define a formation control law that incorporates inter-agent distance constraints. We prove a strong exponential convergence result and show how one can extend the controller such that global stability from any initial position is possible.

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Section: A Contributionmentioning

confidence: 99%

“…The second law works on the set of interior angles subtended at each agent by its neighbours. The extension is based on [10], [11].…”

Section: A An Extension To the Proposed Control Lawmentioning

confidence: 99%

Controlling the shape and scale of triangular formations using landmarks and bearing-only sensing

Manuel

Bishop

Anderson

et al. 2016

2016 35th Chinese Control Conference (CCC)

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“…A mix of range and bearing information can also be used, for example when a subset of agents has the full relative position of a subset of neighbors [6], or when the distance between agents can be estimated using bearing measurements [7]. There are many works in the literature that use a bearing-only approach to formation control [8], [9], [10], [11], [12]. We complement these works by further incorporating a single additional sensor, a compass, to localize the rotation.…”

Section: Introductionmentioning

confidence: 99%

Bearing-compass formation control: A human-swarm interaction perspective

Schoof

Chapman

Mesbahi

2014

2014 American Control Conference

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The paper considers the distributed formation control problem given bearing-only sensing of nearby agents with respect to a global vector frame, provided by a compass. We propose a bearing-compass control law and prove its convergence to a formation that is unique up to translation and scaling. We present results that describe the formation's evolution in terms useful to a human operator, focusing on scale, translation and rotation of the formation. The results are supported with a number of illustrative examples.

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“…Thus, it is possible to suppose the measurements may be corrupted by an unknown finite state Markov chain (which can model noisy sensors and/or communication channels). Alternatively, the Markovperturbed feedback policy can model a relaxed control law, where the controller can choose a single control signal from a set of values during run-time 1 .…”

Section: Introductionmentioning

confidence: 99%

“…Bishop is with the NICTA, Canberra Research Laboratory and the Australian National University, email adrian.bishop@anu.edu.au. 1 For example, an agent may choose a specific heading (from the admissible set defined by the proposed control law) that better avoids an external obstacle. This is a decision best made during run-time and can be modelled via the proposed Markovian feedback policy.…”

Section: Introductionmentioning

confidence: 99%

A distributed control scheme for triangular formations with Markovian disturbances

Nguyen

Krishnamurthy

Bishop

2013

2013 IEEE International Conference on Control Applications (CCA)

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This work details a distributed control system for triangular formation control where the control actions applied by the agents can be chosen from a set of values during run-time (as opposed to a single value defined in a standard feedback controller). Such a control law is advantageous as it allows the individual agents freedom in choosing their individual headings and motion speeds (from the specified set) during execution. This offers greater flexibility and robustness than traditional distributed feedback formation control laws. An alternative interpretation of the results presented is that the control law presented is capable of handling measurements that may be corrupted by an unknown finite state Markov chain (which can model noisy sensors and/or communication channels). A strong convergence result is established which permits global exponential convergence of the formation to the desired shape.

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Bearing-only triangular formation control on the plane and the sphere

Cited by 32 publications

References 11 publications

Controlling the shape and scale of triangular formations using landmarks and bearing-only sensing

Controlling the shape and scale of triangular formations using landmarks and bearing-only sensing

Bearing-compass formation control: A human-swarm interaction perspective

A distributed control scheme for triangular formations with Markovian disturbances

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