Global stabilization of triangulated formations
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Abstract: Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the inter-agent distance conditions. It is well known that when the distance conditions are defined by a rigid graph, there is a finite number of target configurations modulo rotations and translations of the entire formation. We can thus recast the objective of formation control as stabilizing one or many of the target configurations. A major issue is that such control laws will also have equilibria corresponding to configurations which do not meet the desired inter-agent distance conditions; we refer to these as undesirable configurations. The undesirable configurations become problematic if they are also stable. Designing decentralized control laws whose stable equilibria are all target configurations in the case of a general rigid graph is still an open problem. We provide here a new point of view on this problem, and propose a partial solution by exhibiting a class of rigid graphs and control laws for which all stable equilibria are target configurations.
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Cites work
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- Counting critical formations on a line
- Distributed Formation Control of Multi-Agent Systems Using Complex Laplacian
- Equivariant Dynamical Systems
- Global stabilization of rigid formations in the plane
- Global stabilization of triangulated formations
- scientific article; zbMATH DE number 501471 (Why is no real title available?)
- On Global Stability of Planar Formations
- On graphs and rigidity of plane skeletal structures
- Stabilisation of infinitesimally rigid formations of multi-robot networks
- Swarm Aggregation under Fading Attractions
- Undirected Rigid Formations Are Problematic
Cited in
(21)- Coordinate-free formation control of multi-agent systems using rooted graphs
- Analysis and control of acyclic triangle formations
- Triangulated Laman graphs, local stochastic matrices, and limits of their products
- Sign rigidity theory and application to formation specification control
- Angle-based shape determination theory of planar graphs with application to formation stabilization
- Switching formation shape control with distance + area/angle feedback
- Global stabilization of triangulated formations
- Weak Rigidity Theory and Its Application to Formation Stabilization
- Multimode formation stability
- Formation control of rigid graphs with flex edges
- Controlling and stabilizing a rigid formation using a few agents
- Comments on ``Global stabilization of rigid formations in the plane
- Control of minimally persistent formations in the plane
- Stabilisation of infinitesimally rigid formations of multi-robot networks
- Counting critical formations on a line
- Formation control of mobile agents based on inter-agent distance dynamics
- Angle-based formation stabilization and maneuvers in port-Hamiltonian form with bearing and velocity measurements
- A port-Hamiltonian framework for displacement-based and rigid formation tracking
- Global stabilization of similar formation via edge-based clique addition
- Merging and splitting triangularly angle rigid formations
- Target-point formation control
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