Equilibria and steering laws for planar formations

By Eric W. Justh, Perinkulam S. Krishnaprasad. Systems & control letters (Print), 2004

411 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Networks and Communications, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/def026aa746f5004e5ed33b667f1c959b74564f0

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Aerospace Engineering

In Computer Networks and Communications

In Control and Systems Engineering

Citations in the corpus

Multi-Agent Coordination by Decentralized Estimation and Control (2008, background): “In addition, formation control is one of the most-studied problems in decentralized control [1], [9], [11], [18]–[21], [24], [25], [29], [35], [36], [43], [44].”
Autonomous rigid body attitude synchronization (2007, positive): “Coordination is a common requirement in applications involving robotic swarms or formations [5, 14, 4, 30, 9, 29]; understanding basic coordination mechanisms is the subject of ongoing research [5, 24, 32].”
Motion Coordination with Distributed Information (2007, positive): “…graph Laplacians and algebraic connectivity [16, 33] from algebraic graph theory) and nonlinear techniques (symmetries of diﬀerential equations [15], invariance principles for diﬀerential inclusions and for non-deterministic dynamical systems [24], graph grammars [19] from automata theory).”
Distributed Control of Robotic Networks (2009, background): “Regarding distributed motion coordination algorithms, much progress has been made on collective pattern formation (Suzuki and Yamashita, 1999; Belta and Kumar, 2004; Justh and Krishnaprasad, 2004; Sepulchre et al., 2007; Paley et al., 2007; Yang et al., 2008), flocking (Olfati-Saber, 2006; Lee and S”
Formation Control and Collision Avoidance for Multi-agent Non-holonomic Systems: Theory and Experiments (2008, methodology): “In this paper we present a novel approach that addresses these problems.”
Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions (2006, background): “An incomplete list of recent works on motion coordination algorithms includes [6], [7] on pattern formation, [8] on flocking, [9] on self-assembly, [10] on foraging, [11] on gradient climbing, and [12], [13] on deployment.”
Coordinated patterns of unit speed particles on a closed curve (2007, background): “The steering control laws given in [11] are justified for 5 achieving planar formations of two unit speed particles.”
Stabilization of symmetric formations to motion around convex loops (2008, methodology): “We model each autonomous vehicle as a Newtonian point mass (particle) constrained to a plane and subject to a gyroscopic steering force, after [2]; this is a second-order, under-actuated, and constant speed particle model.”
Flocking of Multiple Mobile Robots Based on Backstepping (2011, background): “In [20], steering control laws were proposed for mobile robots to achieve both rectilinear and circular formations.”
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms (2009, background): “Regarding distributed motion coordination algorithms, much progress has been made on collective pattern formation (Suzuki and Yamashita, 1999; Belta and Kumar, 2004; Justh and Krishnaprasad, 2004; Sepulchre et al., 2007; Paley et al., 2007; Yang et al., 2008), flocking (Olfati-Saber, 2006; Lee and S”
Stabilization of collective motion on a sphere (2009, background): “Previouswork onmulti-vehiclemotion planning has focused on planar (Justh & Krishnaprasad, 2004; Sepulchre, Paley, & Leonard, 2007, 2008) and three-dimensional (Justh & Krishnaprasad, 2005; Scardovi, Leonard, & Sepulchre, 2007) models of self-propelled particles with possibly limited interaction.”
Collective Motion From Consensus With Cartesian Coordinate Coupling (2008, methodology): “Other researchers also study symmetric formations by adopting models based on the Frenet-Serret equations of motion [7] or by exploring the connections between phase models of”
Avoiding Collisions in Flocks (2010, neutral): “[ 14 ] L. Gerencser, I. Gyongy, and G. Michaletzky, “Continuous-time”
Stabilization of Planar Collective Motion With Limited Communication (2008, methodology): “Equilibria of the reduced dynamics are called relative equilibria and include parallel motions, characterized by a common orientation for all the particles (with arbitrary relative spacing), and circular motions, characterized by circular orbits of the particles around a fixed point [1].”