Nonholonomic control of distance-based cyclic polygon formation

  title={Nonholonomic control of distance-based cyclic polygon formation},
  author={Byung-Hun Lee and Seung-Ju Lee and Myoung-Chul Park and Kwang-Kyo Oh and Hyo-Sung Ahn},
  journal={2013 9th Asian Control Conference (ASCC)},
Inter-agent formation is the interesting issue and coped within previous literatures. We propose a control strategy based on inter-agent cyclic formulation of nonholonomic model. Graph is directed. Each agent maintains a desired distance with a neighbor agent. Under sliding control technique, sequence of control input forces configuration to equilibrium… CONTINUE READING