Nathan Sorensen

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In the exploration and implementation of formation control strategies, communication range and bandwidth limitations form a barrier to large scale formation control applications. The limitations of current formation control strategies involving a leader–follower approach and a consensus-based approach with fully available group trajectory information are(More)
In this brief, consensus algorithms are experimentally implemented and validated on a mobile actuator and sensor network platform under directed, possibly switching interaction topologies to explore issues and challenges in distributed multivehicle cooperative control. Distributed consensus algorithms are applied to two target applications including(More)
In the exploration and implementation of formation control schemes, bandwidth limitations and communication breakdown form a barrier to large scale formation control applications. The limitations of current formation control strategies involving a leader-follower approach and a consensus-based formation control approach with fully available group trajectory(More)
In this paper, we experimentally implement and validate distributed consensus algorithms on a mobile actuator and sensor network platform under directed, possibly switching interaction topologies to explore issues and challenges in distributed multi-vehicle cooperative control. Distributed consensus algorithms are applied to three target applications namely(More)
Distributed cooperative control strategies account for communication range and bandwidth limitations. While various distributed cooperative control strategies have been studied in theory, few of them have been systematically validated on experimental platforms. This paper demonstrates experimental results of consensus-based distributed cooperative control(More)
Cooperative control in the presence of a limited communication range poses significant theoretical and practical challenges. Some control strategies in this area rely on information relay where all information received by any vehicle is passed to all other vehicles that it communicates with. Some other control strategies in this area are based on local(More)
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