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Geometric Analysis of the Formation Problem for Autonomous Robots

Author(s):

F. Dörfler, F. Bullo
Conference/Journal:

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. It is well known that there are various other undesired invariant sets of the robots’ closed-loop dynamics. This paper addresses a global stability analysis by a differential geometric approach considering invariant manifolds and their local stability properties. The 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:

(15)Miscellaneous
Supervisor:



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% Autogenerated BibTeX entry
@Misc { D_rBul:2010:IFA_4954,
    author={F. D{\"o}rfler and F. Bullo},
    title={{Geometric Analysis of the Formation Problem for Autonomous
	  Robots}},
    month=jan,
    year={2010},
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=4954}
}
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