Decentralized control of parallel rigid formations with direction constraints and bearing measurements

Abstract

In this paper we analyze the relationship between scalability, minimality and rigidity, and its application to cooperative control. As a case study, we address the problem of multi-agent formation control by proposing a distributed control strategy that stabilizes a formation described with bearing (direction) constraints, and that only requires bearing… (More)
DOI: 10.1109/CDC.2012.6426034

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