Bearing‐only control of directed cycle formations: Almost global convergence and hardware implementation
Gwihan Ko, Minh Hoang Trinh, Hyo‐Sung Ahn
Abstract
Summary In this article, we study bearing‐only control of directed cyclic formations. First, we provide a necessary and sufficient condition on the bearing constraints so that the directed cycle formation of n ‐agents in ( n −1)‐dimensional space is infinitesimally bearing rigid. Second, a bearing‐only control law which only allows motions perpendicular to the desired bearing vector is proposed. Under this control law, the agents globally asymptotically converge to a desired formation which is fully determined from their initial positions and desired bearing vectors. Finally, the proposed formation control law is implemented on mobile robots to support the analysis.
Topics & Concepts
Bearing (navigation)Convergence (economics)Control theory (sociology)Control (management)InfinitesimalComputer scienceEngineeringMathematicsMathematical analysisArtificial intelligenceEconomic growthEconomicsDistributed Control Multi-Agent SystemsMathematical and Theoretical Epidemiology and Ecology ModelsMicro and Nano Robotics