Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance

Roberto Tron, Justin Thomas, Giuseppe Loianno, Kostas Daniilidis, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We address the controller synthesis problem for distributed formation control. Our solution requires only relative bearing measurements (as opposed to full translations), and is based on the exact gradient of a Lyapunov function with only global minimizers (independently from the formation topology). These properties allow a simple proof of global asymptotic convergence, and extensions for including distance measurements, leaders and collision avoidance. We validate our approach through simulations and comparison with other stateof-the-art algorithms.

Original languageEnglish (US)
Title of host publication2016 IEEE 55th Conference on Decision and Control, CDC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1806-1813
Number of pages8
ISBN (Electronic)9781509018376
DOIs
StatePublished - Dec 27 2016
Event55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States
Duration: Dec 12 2016Dec 14 2016

Other

Other55th IEEE Conference on Decision and Control, CDC 2016
CountryUnited States
CityLas Vegas
Period12/12/1612/14/16

Fingerprint

Bearings (structural)
Formation Control
Distance Measurement
Global Minimizer
Distance measurement
Asymptotic Convergence
Collision Avoidance
Distributed Control
Collision avoidance
Lyapunov functions
Global Convergence
Lyapunov Function
Topology
Synthesis
Gradient
Controller
Controllers
Simulation
Art
Avoidance

ASJC Scopus subject areas

  • Artificial Intelligence
  • Decision Sciences (miscellaneous)
  • Control and Optimization

Cite this

Tron, R., Thomas, J., Loianno, G., Daniilidis, K., & Kumar, V. (2016). Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 1806-1813). [7798527] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798527

Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance. / Tron, Roberto; Thomas, Justin; Loianno, Giuseppe; Daniilidis, Kostas; Kumar, Vijay.

2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1806-1813 7798527.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tron, R, Thomas, J, Loianno, G, Daniilidis, K & Kumar, V 2016, Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance. in 2016 IEEE 55th Conference on Decision and Control, CDC 2016., 7798527, Institute of Electrical and Electronics Engineers Inc., pp. 1806-1813, 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, United States, 12/12/16. https://doi.org/10.1109/CDC.2016.7798527
Tron R, Thomas J, Loianno G, Daniilidis K, Kumar V. Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1806-1813. 7798527 https://doi.org/10.1109/CDC.2016.7798527
Tron, Roberto ; Thomas, Justin ; Loianno, Giuseppe ; Daniilidis, Kostas ; Kumar, Vijay. / Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance. 2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 1806-1813
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