Formation stabilization and resizing based on the control of inter‐agent distances |
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| Authors: | Myoung‐Chul Park Kyungmin Jeong Hyo‐Sung Ahn |
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| Affiliation: | 1. School of Mechatronics, Gwangju Institute of Science and Technology (GIST), Gwangju, 500‐712, Korea;2. Korea Atomic Energy Research Institute, Daedeokdae‐ro 989‐111, Yuseong‐Gu, Daejeon, Korea |
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| Abstract: | We propose a control strategy that could steer the group of mobile agents in the plane to achieve a specified formation. The control law could be implemented in a fully decentralized manner so that each agent moves on their own local reference frame. Under the acyclic minimally persistent graph topology, each agent measures the relative displacements of neighboring agents and then adjusts the distances between them to achieve the desired formation. As well as achieving a fixed formation, we could resize the formation only by changing the leader edge, which connects the leader with the first‐follower in acyclic minimally persistent graph, without changing the structures of the control law. Copyright © 2014 John Wiley & Sons, Ltd. |
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| Keywords: | formation control formation scaling formation resizing persistent formation consensus |
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