Local and Distributed Rendezvous of Underactuated Rigid Bodies

DOI10.1109/TAC.2017.2650562zbMATH Open1373.93235arXiv1509.07022OpenAlexW2964066290MaRDI QIDQ4589442FDOQ4589442

Authors: Ashton Roza, Manfredi Maggiore, L. Scardovi 

Publication date: 10 November 2017

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

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.

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

Mathematics Subject Classification ID

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

Cited In (1)

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

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