Formation shape control based on bearing rigidity

Eren, Tolga

doi:10.1080/00207179.2012.685183

Cited by 140 publications

(105 citation statements)

References 33 publications

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“…Thus, dn − d − 1 scalar values specify the formation shape. This observation is consistent with [18].…”

Section: B Bearing-based Henneberg Constructionsupporting

confidence: 82%

“…The role of controlling a bearing vector between two agents i and j can be assigned to only one of the two agents, for example, to agent i, and then agent j moves without awareness of this task. The rest of this paper will focus on a task distribution strategy in a special structure termed "leader-first follower" or "two-leader formation" [18], [31].…”

Section: A Preliminariesmentioning

confidence: 99%

“…Early works on bearing-based formation control focused on controlling the subtended bearing angle, which is invariant in each agent's local coordinate frame [14]- [18]. Another approach is based on bearing rigidity, in which the target formation is characterized by a set of desired bearing vectors, which are sufficient to specify the formation up to a scaling and a translation.…”

Section: Introductionmentioning

confidence: 99%

“…Note that the bearing-based Henneberg construction, unlike the bearing rigidity theory given in [21], is a basic theoretical framework for bearing-based directed graphs. We extend the bearing-based Henneberg construction in [18] to generate all LFF graphs based on two graph operations, namely vertex addition and edge splitting. In practice, systems with LFF structure are easy to implement due to their cascade structure [30].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure

Trinh

Zhao

Sun

et al. 2018

IEEE Trans. Automat. Contr.

101

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“…Thus, dn − d − 1 scalar values specify the formation shape. This observation is consistent with [18].…”

Section: B Bearing-based Henneberg Constructionsupporting

confidence: 82%

Section: A Preliminariesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure

Trinh

Zhao

Sun

et al. 2018

IEEE Trans. Automat. Contr.

101

View full text Add to dashboard Cite

show abstract

“…[Olfati-Saber and Murray, 2002, Smith et al, 2006, Hendrickx et al, 2007, Dimarogonas and Johansson, 2008, Cao et al, 2008, Yu et al, 2009, Krick et al, 2009, Dorfler and Francis, 2010, Oh and Ahn, 2011, Cao et al, 2011, Summers et al, 2011, Park et al, 2012, Belabbas et al, 2012 Orientation-based formation control has been addressed in [Basiri et al, 2010, Eren, 2012, Trinh et al, 2014, Zhao and Zelazo, 2016, whereas the authors in [Trinh et al, 2014, Bishop et al, 2015, Fathian et al, 2016 have considered the combination of distance-and orientationbased formation.…”

Section: Introductionmentioning

confidence: 99%

Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment

2017

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This paper addresses the problem of distance-and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a decentralized model-free control protocol in the sense that each agent uses only local information from its neighbors to calculate its own control signal, without incorporating any knowledge of the model nonlinearities and exogenous disturbances. Moreover, the transient and steady state response is solely determined by certain designer-specified performance functions and is fully decoupled by the agents' dynamic model, the control gain selection, the underlying graph topology as well as the initial conditions. Additionally, by introducing certain inter-agent distance constraints, we guarantee collision avoidance and connectivity maintenance between neighboring agents. Finally, simulation results verify the performance of the proposed controllers.

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Bearing‐based autonomous communication relay positioning under field‐of‐view constraints

Fabris

Zelazo

2022

Adv Control Appl

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This article investigates the problem of communication relay establishment for multiple agent‐based mobile units using a relay vehicle. The objective is to drive autonomously the relay vehicle to attain a position for communication relay establishment while maintaining the other vehicles inside of its field‐of‐view. A bearing‐based control law is proposed for the relay drone and designed for both single and multiple agents. We also provide a collision avoidance scheme that ensures no collisions between the relay and other agents. Numerical simulations and experimental results are reported as well to show the efficacy of the proposed approach.

show abstract

Formation shape control based on bearing rigidity

Cited by 140 publications

References 33 publications

Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure

Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure

Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment

Bearing‐based autonomous communication relay positioning under field‐of‐view constraints

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