Cohesive motion control of autonomous formations in three dimensions

Ismail Bayezit*, Mehdi M. Amini, Fidan Bariş, Iman Shames

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

In this paper, we consider the problem of decentralized cohesive motion control of a formation of autonomous vehicles or robots moving in three dimensions, where the formation is required to move from its initial setting (defined by the positions of the agents in the formation) to a final desired setting, and during this motion, maintain its formation geometry defined by the initial distances between the agent pairs. We propose a distributed control scheme to solve this problem utilizing the notions of graph rigidity and persistence as well as techniques of virtual target tracking and smooth switching. The distributed control scheme is developed by modeling the agent kinematics as single-velocity integrator; nevertheless, extension to the cases with practical kinematic models of autonomous aerial and underwater vehicles is discussed.

Original languageEnglish
Title of host publicationProceedings of the 2010 6th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, ISSNIP 2010
Pages205-210
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 6th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, ISSNIP 2010 - Brisbane, QLD, Australia
Duration: 7 Dec 201010 Dec 2010

Publication series

NameProceedings of the 2010 6th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, ISSNIP 2010

Conference

Conference2010 6th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, ISSNIP 2010
Country/TerritoryAustralia
CityBrisbane, QLD
Period7/12/1010/12/10

Fingerprint

Dive into the research topics of 'Cohesive motion control of autonomous formations in three dimensions'. Together they form a unique fingerprint.

Cite this