Balanced circular formation control based on gossip communication and angle of arrival information

@article{Guo2011BalancedCF,
  title={Balanced circular formation control based on gossip communication and angle of arrival information},
  author={Jing Guo and Gangfeng Yan and Zhiyun Lin},
  journal={Proceedings of the 30th Chinese Control Conference},
  year={2011},
  pages={6036-6041}
}
The paper studies the problem of stabilizing a group of anonymous agents into a balanced circular formation, for which the agents are evenly spaced on a circular trajectory and the geometric center of the agents is fixed. A novel control algorithm is proposed utilizing only angle of arrival information (bearing). We consider the scenario of gossip communications: at every piece of time interval a randomly chosen pair of agents communicates so that both can measure the angle of arrival (AoA) and… CONTINUE READING
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