Abstract
This chapter combines the results in the previous two chapters, and addresses pose synchronization, namely synchronization of positions and orientations, for the rigid body network. A virtual leader is then introduced, and velocity synchronization to the leader’s velocity is proved. The graph condition is then relaxed from strong connectivity to the graph having a spanning tree. The results are further extended to flocking control in three dimensions, where we present a flocking algorithm that embodies all of the Reynolds rules and relies only on inter-agent relative information. This chapter also presents experimental studies for the combination of the present synchronization law and visual motion observer in Chap. 6.
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When the control input consists only on relative pose with respect to neighbors, the group motion is described by a reduced order dynamics [146, 147]. The equilibria of the reduced dynamics are called relative equilibria.
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© 2015 Springer International Publishing Switzerland
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Hatanaka, T., Chopra, N., Fujita, M., Spong, M.W. (2015). Pose Synchronization for Rigid Body Networks. In: Passivity-Based Control and Estimation in Networked Robotics. Communications and Control Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-15171-7_10
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DOI: https://doi.org/10.1007/978-3-319-15171-7_10
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-15170-0
Online ISBN: 978-3-319-15171-7
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