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Stabilization of Stiff Formations with a Mix of Direction and Distance Constraints


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

IEEE Multi-Conference on Systems and Control

Heterogenous formation shape control with a mix of inter-agent distance and bearing constraints involves the design of distributed control laws that ensure the formation moves such that these inter-agent constraints are achieved and maintained. This paper looks at the design of a distributed control scheme to solve the mixed constraint formation control problem with an arbitrary number of agents. A gradient control law is proposed based on the mathematical notion of a stiff formation structure and a corresponding stiff constraint matrix (which has origins in graph theory). This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only or bearing- only constraints are typically maintained. A stability analysis is sketched and a number of other technical results are given.


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% Autogenerated BibTeX entry
@InProceedings { BisSum:2013:IFA_4396,
    author={Adrian N. Bishop and T.H. Summers and Brian D.O. Anderson},
    title={{Stabilization of Stiff Formations with a Mix of Direction
	  and Distance Constraints}},
    booktitle={IEEE Multi-Conference on Systems and Control},
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