Local and Distributed Rendezvous of Underactuated Rigid Bodies

DOI10.1109/TAC.2017.2650562MaRDI QIDQ4589442zbMATH OpenOpenAlexFDO

Authors Ashton Roza, Manfredi Maggiore, L. Scardovi

Publication date 10 November 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1509.07022

Robot dynamics and control of rigid bodies (70E60) Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85)

Abstract: This paper solves the rendezvous problem for a network of underactuated rigid bodies such as quadrotor helicopters. A control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood of one another. The convergence is global, and each vehicle can compute its own control input using only an on-board camera and a three-axis rate gyroscope. No global positioning system is required, nor any information about the vehicles' attitudes.

Cited in

(1)

On the consensus tracking investigation for multi-agent systems on time scale via matrix-valued Lyapunov functions

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