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Control of Triangle Formations with a Mix of Angle and Distance Constraints


Adrian N. Bishop, T.H. Summers, Brian D.O. Anderson

IEEE Multi-Conference on Systems and Control, Dubrovnik, Croatia, pp. 825-830

A distributed control law for triangular formation control with a mixture of bearing and range measurements and relative pair-wise inter-agent angle constraints and a single range constraint is introduced. The control law is weak in the sense that two agents are free to choose their own heading within a relatively large range of values. Indeed, the agents can determine their heading independently at run-time given any criteria they desire as long as certain relaxed conditions are met. A convergence result is established that ensures the desired formation configuration is asymptotically stable. Illustrative examples are provided to demonstrate the claims.


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% Autogenerated BibTeX entry
@InProceedings { BisSum:2012:IFA_4213,
    author={Adrian N. Bishop and T.H. Summers and Brian D.O. Anderson},
    title={{Control of Triangle Formations with a Mix of Angle and
	  Distance Constraints}},
    booktitle={IEEE Multi-Conference on Systems and Control},
    address={Dubrovnik, Croatia},
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