Hybrid rigidity theory with signed constraints and its application to formation shape control in 2-D space

Kwon, Seong-Ho; Sun, Zhiyong; Anderson, Brian D. O.; Ahn, Hyo‐Sung

doi:10.1109/cdc42340.2020.9303970

Cited by 9 publications

(19 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We note that the moving configurations in the (1D2B) setup and the flipped equilibrium configuration in the (1B2D) setup both have a signed area that has an opposite sign compared to the signed area of the desired formation shape. Hence the use of signed constraints as introduced in [15], [18] is a possible future direction. For the (1D2B) setup, the inclusion of the signed area constraint in [15] does not increase the sensing load of the distance robot while it can have the potential of mitigating the existence of distorted formation shapes.…”

Section: Discussionmentioning

confidence: 99%

“…where x, y, p, q, m, n and the bearing matrices are previously defined in (17) and (18). Also, for the flipped equilibrium configurations in S F p , we obtain…”

Section: Local Stability Analysis Of the Equilibrium And Moving Formationsmentioning

confidence: 99%

“…where the variables are defined as in (17) and (18). The corresponding characteristic polynomial χ M pλq is the quartic polynomial Proof: Assuming the bearing vectors are not perpendicular, we obtain that 0 ă sin 2 θ ‹ ă 1.…”

mentioning

confidence: 98%

See 2 more Smart Citations

Stability Analysis of Gradient-Based Distributed Formation Control With Heterogeneous Sensing Mechanism: The Three Robot Case

Chan

Jayawardhana

Marina

2022

IEEE Trans. Automat. Contr.

View full text Add to dashboard Cite

This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. For the setups consisting of three robots, we show that the use of heterogeneous gradientbased control laws can give rise to undesired invariant sets where a distorted formation shape is possibly moving at a constant velocity. We guarantee local asymptotic stability for the correct and desired formation shape. For the setup with one distance and two bearing robots, we identify the conditions such that an incorrect moving formation is locally attractive.

show abstract

Section: Discussionmentioning

confidence: 99%

“…where x, y, p, q, m, n and the bearing matrices are previously defined in (17) and (18). Also, for the flipped equilibrium configurations in S F p , we obtain…”

Section: Local Stability Analysis Of the Equilibrium And Moving Formationsmentioning

confidence: 99%

See 1 more Smart Citation

Stability Analysis of Gradient-Based Distributed Formation Control With Heterogeneous Sensing Mechanism: The Three Robot Case

Chan

Jayawardhana

Marina

2022

IEEE Trans. Automat. Contr.

View full text Add to dashboard Cite

show abstract

“…• Chapter 3: For the (1B2D) setup, we have observed that the flipped formation is also locally attractive. Recently, the authors in [30] have introduced the concept of a signed angle which is related to the signed area of a triangle.…”

Section: Discussionmentioning

confidence: 99%

“…In distance-constrained and also distance-and-angle-constrained formation control, flip and flex ambiguities occur. To resolve this problem, signed constraints [4,30,44] have been introduced.…”

Section: Introductionmentioning

confidence: 99%

Securing and Maneuvering Heterogeneous Mobile Robot Formations: Distributed Control Design and Stability Analysis

Chan¹

View full text Add to dashboard Cite

At last! The train ride labeled 'PhD' is coming to an end. Let me sit here for some more moments to recall the past 4`years while the train is at the destination, but not yet standing still. While doing so, allow me to address a few words to some particular individuals.The first on my list is Bayu. Bayu, terima kasih! I am grateful you have taken me under your wing in the past period. You have given me freedom to explore but also make sure I stay on the rails. You always have a smile on your face during our meetings which were not limited to only discussing research. I also thank you for the support you have shown me when I asked you for permission to conduct additional teaching duties after my involvement in the course 'Signals & Systems'.Dear Jacquelien, I am grateful to you for the discussions we had during the start of my PhD which led to Chapter 6 of the thesis and the good time we spent in Hong Kong! Needless to mention, the annual group outing we have and the 'nieuwjaarsrolletjes' with cream you bring at the start of each year.Gracias también to Hector with whom I have collaborated on different chapters of the thesis. Hector, your cheerful appearance during our e-meetings made them light-hearted.Who is next on the list? Yes, it is you Frederika, my favorite secretary! Dankjewel 1 for bringing a smile to my face whenever I see you. I look back with joy to starting the day in the secretary office with you and the other colleagues while having a sip of coffee or tea, and I will remember the stories you shared with me.I would like to express gratitude to my reading committee members. Thank you Ming Cao, Kanat Ç amlibel, and Dimos Dimarogonas for your time and effort.To all my former and current colleagues at DTPA, SMS, and ODS, thanks for having me! I am happy to be in your midst and occasionally also enjoy the group dynamics evolving from a spectator's view. Special mention goes to Xiaodong, 1 'u' is not preferred :) vii Hadi, Lulu, Hongyu, Wouter and of course my office mates Zaki, Bao, Carmen, Tábitha, and Liangming.I came to Groningen with the knowledge that I have to start from zero in terms of building a social circle. I am fortunate to say I will still be connected to Groningen by means of the following individuals: Jeroen, Jan, Mark, and Michel. Each of you has been a source of support when I needed to talk to somebody and you have allowed me to focus on stuff non-RUG related.I would also like to address some words to Ignaas Jimidar and Cyrano Vaseur, the two friends I have met since our Bachelor period in Suriname and with whom I enjoyed my Master period in Enschede. Thank you both for agreeing to be my paranymphs and more than that, thanks for being my friend. While we are some train hours apart, we always have lots to discuss when being together. My gratitude also to all the other people whom I have not mentioned.爸爸，妈妈，姐姐，很感谢你们给我机会和自由去做我想做的事，走自己的路。爸爸，妈妈, 儿子快毕业了，您们不需要操心了。 Last on my list is Maarten. Dankjewel for having my back, and for regularly pulling me out of my work environment to discover the...

show abstract

Sign rigidity theory and application to formation specification control

et al. 2022

View full text Add to dashboard Cite

Hybrid rigidity theory with signed constraints and its application to formation shape control in 2-D space

Cited by 9 publications

References 23 publications

Stability Analysis of Gradient-Based Distributed Formation Control With Heterogeneous Sensing Mechanism: The Three Robot Case

Stability Analysis of Gradient-Based Distributed Formation Control With Heterogeneous Sensing Mechanism: The Three Robot Case

Securing and Maneuvering Heterogeneous Mobile Robot Formations: Distributed Control Design and Stability Analysis

Sign rigidity theory and application to formation specification control

Contact Info

Product

Resources

About