Please use this identifier to cite or link to this item:
https://hdl.handle.net/10356/85683
Title: | Formation control of multiple elliptic agents with limited sensing ranges | Authors: | Do, K. D. | Issue Date: | 2012 | Source: | Do, K. D. (2012). Formation control of multiple elliptic agents with limited sensing ranges. Asian Journal of Control, 14(6), 1514-1526. | Series/Report no.: | Asian journal of control | Abstract: | This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptic shape and limited sensing ranges to perform a desired formation and that guarantee no collisions between any agents in the group. The desired formation can be stabilized at feasible reference trajectories with bounded time derivatives. The formation control design is based on explicit algebraic separation conditions between ellipses, root conditions of cubic polynomials, the Lyapunov direct method, and smooth or p-times differentiable step functions. These functions are incorporated into novel potential functions to solve the collision avoidance problem without the need for switchings despite the agents' limited sensing ranges. | URI: | https://hdl.handle.net/10356/85683 http://hdl.handle.net/10220/12635 |
ISSN: | 1561-8625 | DOI: | 10.1002/asjc.447 | Schools: | School of Mechanical and Aerospace Engineering | Fulltext Permission: | none | Fulltext Availability: | No Fulltext |
Appears in Collections: | MAE Journal Articles |
SCOPUSTM
Citations
20
11
Updated on Mar 27, 2024
Web of ScienceTM
Citations
20
11
Updated on Oct 25, 2023
Page view(s) 50
462
Updated on Mar 29, 2024
Google ScholarTM
Check
Altmetric
Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.