Formation shape control based on bearing rigidity

@article{Eren2012FormationSC,
  title={Formation shape control based on bearing rigidity},
  author={Tolga Eren},
  journal={International Journal of Control},
  year={2012},
  volume={85},
  pages={1361 - 1379}
}
  • T. Eren
  • Published 6 July 2012
  • Engineering
  • International Journal of Control
Distance measurements are not the only geometric quantities that can be used for multi-agent formation shape control. Bearing measurements can be used in conjunction with distances. This article employs bearing rigidity for mobile formations, which was developed for robot and sensor network localisation, so that bearings can be used for shape control in mobile formations. The first part of this article examines graph theoretical models for formation network analysis and control law design that… 
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115 Citations
Highly Influential Citations
7
Background Citations
60
Methods Citations
13
Results Citations
1

115 Citations

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Citation Type

Physical Interpretation of Rigidity for Bearing Formations: Application to Mobility and Singularity Analyses
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It is shown that bearing rigid graphs can be given a physical interpretation related to virtual mechanisms, whose mobility and singularities can be analyzed and detected in an analytical way by using tools borrowed from the mechanical engineering community.
Global stabilization for triangular formations under mixed distance and bearing constraints
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This paper addresses the triangular formation control problem for a system of three agents under mixed distance and bearing constraints and designs a class of control strategies, under which each agent is only responsible for a single control variable, i.e., a distance or an angle, such that the control laws can be implemented in local coordinate frames.
Formation Control and Guidance using Bearing-only Measurements
In this thesis, we study formation control and guidance algorithms using only bearing measurements. First, an angle based leader–follower formation control problem is considered. In this problem,…
Cascaded formation control using angle and distance between agents with orientation control (part 2)
In this paper and its companion paper [1], multi-agent formation control with obstacle collision avoidance for angle-distance-based formations with orientation control is considered. We propose an…
Globally Stable Formation Control of Nonholonomic Multiagent Systems With Bearing-Only Measurement
TLDR
The maximal clique graph is used to define the topological relationship between agents and a novel distributed bearing-only formation controller is designed that can achieve the global stability due to the existence of common agents between the maximal cliques under the designed controller.
Formation control of a leader-follower structure in three dimensional space using bearing measurements
Bearing-Constrained Formation Control using Bearing Measurements
This paper studies distributed control of bearing-constrained multiagent formations using bearing-only measurements. In order to analyze bearing-constrained formations, we first present a bearing…
Adaptive Formation Control of Networked Robotic Systems With Bearing-Only Measurements
TLDR
The bearing-rigid theory is extended to solve the nonlinear robotic systems with the Euler–Lagrange-like model and a novel almost global stable distributed bearing-only formation control law is proposed for the non linear robotic systems.
Bearing-based formation manoeuvre control of nonholonomic multi-agent systems
TLDR
A distributed formation manoeuvre control law is proposed for 2D nonholonomic agents according to the inter-bearing measurement and is nontrivially extended to 3D non holonomic multi-agents systems.
Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization
TLDR
It is shown that a framework in an arbitrary dimension can be uniquely determined up to a translation and a scaling factor by the bearings if and only if the framework is infinitesimally bearing rigid.
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References

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