Necessary and sufficient graphical conditions for formation control of unicycles

被引：809

作者：

Lin, ZY ^{[1
]}

Francis, B ^{[1
]}

Maggiore, M ^{[1
]}

机构：

[1] Univ Toronto, Dept Elect & Comp Engn, Toronto, ON M5S 3G4, Canada

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2005年 / 50卷 / 01期

关键词：

distributed control; multiagent system; nonholonomic mobile robots;

D O I：

10.1109/TAC.2004.841121

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The feasibility problem is studied of achieving a specified formation among a group of autonomous unicycles by local distributed control. The directed graph defined by the information flow plays a key role. It is proved that formation stabilization to a point is feasible if and only if the sensor digraph has a globally reachable node. A similar result is given for formation stabilization to a line and to more general geometric arrangements.

引用

页码：121 / 127

页数：7

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