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  Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements

Franchi, A., & Robuffo Giordano, P. (2012). Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements. In 51th IEEE Conference on Decision and Control (CDC 2012) (pp. 5310-5317). Piscataway, NJ, USA: IEEE.

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 Creators:
Franchi, A1, 2, Author              
Robuffo Giordano, P1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: In this paper we analyze the relationship between scalability, minimality and rigidity, and its application to cooperative control. As a case study, we address the problem of multi-agent formation control by proposing a distributed control strategy that stabilizes a formation described with bearing (direction) constraints, and that only requires bearing measurements and parallel rigidity of the interaction graph. We also consider the possibility of having different graphs modeling the interaction network in order to explicitly take into account the conceptual difference between sensing, communication, control, and parameters stored in the network. We then show how the information can be ‘moved’ from a graph to another making use of decentralized estimation, provided the parallel rigidity property. Finally we present simulative examples in order to show the validity of the theoretical analysis in some illustrative cases.

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 Dates: 2012-12
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/CDC.2012.6426034
BibTex Citekey: FranchiR2012
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Title: 51th IEEE Conference on Decision and Control (CDC 2012)
Place of Event: Maui, HI, USA
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Title: 51th IEEE Conference on Decision and Control (CDC 2012)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 5310 - 5317 Identifier: ISBN: 978-1-4673-2065-8