Abstract
This paper addresses the problem of distributed motion control of highly structured formations of robot vehicles. Feedback laws based on relative distance and bearing measurements are used. There are topological obstructions to globally stable system operation for such laws, but by appropriately switching among them, it is possible to stably control a rich class of formation motions.
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Baillieul, J. The Geometry of Sensor Information Utilization in Nonlinear Feedback Control of Vehicle Formations. In: Kumar, V., Leonard, N., Morse, A.S. (eds) Cooperative Control. Lecture Notes in Control and Information Science, vol 309. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-31595-7_1
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DOI: https://doi.org/10.1007/978-3-540-31595-7_1
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22861-5
Online ISBN: 978-3-540-31595-7
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