Bearing-Only Formation Control with Limited Visual Sensing: Two Agent Case
نویسندگان
چکیده
منابع مشابه
Formation Control and Guidance using Bearing-only Measurements
In this thesis, we study formation control and guidance algorithms using only bearing measurements. First, an angle based leader–follower formation control problem is considered. In this problem, there are three leaders which have access to their own global positions. The other agents are followers which sense relative bearing measurements with regard to three neighbors. We propose a control st...
متن کاملBroadcast Control for Swarm of Agents with Bearing Only and Limited Visibility Sensors
We suggest a control mechanism for leading a team of mobile, oblivious, identical and indistinguishable agents in desired directions. The agents are assumed to have a compass, i.e. a common North direction, and bearing only sensing within a limited visibility range, and may receive a direction-control broadcast with some given probability. We prove that, under the suggested control mechanism, t...
متن کاملA Very Relaxed Control Law for Bearing-Only Triangular Formation Control
The problem of bearing-only triangular formation control is considered. Each agent measures two inter-agent bearings in a local coordinate system and is tasked with establishing, and maintaining, a desired angular separation relative to its neighbours (and consequently an overall desired shape). A distributed control law is designed for each agent that is based only on the agent’s locally measu...
متن کاملBearing-Constrained Formation Control Using Bearing Measurements
This paper studies distributed control of bearing-constrained multiagent formations using bearing-only measurements. In order to analyze bearing-constrained formations, we first present a bearing rigidity theory that is applicable to arbitrary dimensions. Based on the proposed bearing rigidity theory, we investigate distributed bearing-only formation control in arbitrary dimensions in the prese...
متن کاملBearing-Only Control Laws For Balanced Circular
For a group of constant-speed ground robots, a simple control law is designed to stabilize the motion of the group into a balanced circular formation using a consensus approach. It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanced circular formation. We consider two different scenarios that the connectivity graph of the system is eith...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2018
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2018.12.006