Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization
نویسندگان
چکیده
منابع مشابه
Formation shape control based on bearing rigidity
Distance measurements are not the only geometric quantities that can be used for multi-agent formation shape control. Bearing measurements can be used in conjunction with distances. This article employs bearing rigidity for mobile formations, which was developed for robot and sensor network localisation, so that bearings can be used for shape control in mobile formations. The first part of this...
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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...
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Bearing-only localization can be formulated in terms of optimal graph embedding: one has to assign a 2-D or 3-D position to each node in a graph while satisfying as close as possible all the bearing-only constraints on the edges. If the graph is parallel rigid, this can be done via spectral methods. When the graph is not rigid the reconstruction is ambiguous, as different subsets of vertices ca...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2016
ISSN: 0018-9286,1558-2523
DOI: 10.1109/tac.2015.2459191