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Geometric Analysis of the Formation Problem for Autonomous Robots

Author(s):

F. Dörfler, F. Bullo
Conference/Journal:

IEEE Transactions on Automatic Control, vol. 55, no. 10, pp. 2379-2384
Abstract:

In the formation control problem for autonomous robots, a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center manifold theory or via a Lyapunov-based approach. Besides the target formation, the closed-loop dynamics of the robots feature various other undesired invariant sets such as nonrigid formations. This note addresses a global stability analysis of the closed-loop formation control dynamics. We pursue a differential geometric approach and derive purely algebraic conditions for local stability of invariant embedded submanifolds. These theoretical results are then applied to the well-known example of a cyclic triangular formation and result in instability of all invariant sets other than the target formation.

Year:

2010
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@Article { D_rBul:2010:IFA_4898,
    author={F. D{\"o}rfler and F. Bullo},
    title={{Geometric Analysis of the Formation Problem for Autonomous
	  Robots}},
    journal={IEEE Transactions on Automatic Control},
    year={2010},
    volume={55},
    number={10},
    pages={2379--2384},
    month=oct,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=4898}
}
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