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.
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页码：121 / 127
页数：7
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