Formation Control

Approaches for Distributed Agents

  • Hyo-Sung Ahn

Part of the Studies in Systems, Decision and Control book series (SSDC, volume 205)

Table of contents

  1. Front Matter
    Pages i-xx
  2. Background

    1. Front Matter
      Pages 1-1
    2. Hyo-Sung Ahn
      Pages 3-26
    3. Hyo-Sung Ahn
      Pages 27-60
  3. Gradient Control Laws

    1. Front Matter
      Pages 61-61
    2. Hyo-Sung Ahn
      Pages 63-96
    3. Hyo-Sung Ahn
      Pages 97-116
    4. Hyo-Sung Ahn
      Pages 117-139
  4. Orientation Alignment-based Approaches

    1. Front Matter
      Pages 141-141
    2. Hyo-Sung Ahn
      Pages 143-164
  5. Bearing-Based Formation Control

    1. Front Matter
      Pages 219-219
    2. Hyo-Sung Ahn
      Pages 221-254
  6. Advanced Topics

    1. Front Matter
      Pages 269-269
    2. Hyo-Sung Ahn
      Pages 271-295
    3. Hyo-Sung Ahn
      Pages 297-319
    4. Hyo-Sung Ahn
      Pages 321-337
  7. Back Matter
    Pages 339-360

About this book


This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations.

Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents.

Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.


Formation Control Distributed Consensus Multi-agent Systems Networked Systems Mobile Robots Distributed Control

Authors and affiliations

  1. 1.School of Mechanical EngineeringGwangju Institute of Science and TechnologyBuk-gu, GwangjuKorea (Republic of)

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