Distributed control of triangular formations with angle-only constraints

—This paper considers the coupled formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming the desired angular separation of each agent relative to the group is feasible, then a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally measured bearings. A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape.

• Type: Journal
• Year: 2010
• Where: SCL
• Authors: Meysam Basiri, Adrian N. Bishop, Patric Jensfelt
• Keywords: Angular Separation, Control Law, Global Asymptotic Convergence, SCL 2010