Bearing-based formation control with second-order agent dynamics
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Citation (published version)Roberto Tron. 2018. "Bearing-Based Formation Control with Second-Order Agent Dynamics." 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC). 57th IEEE Conference on Decision and Control (CDC). Miami Beach, FL, 2018-12-17 - 2018-12-19. https://doi.org/10.1109/CDC.2018.8619393
We consider the distributed formation control problem for a network of agents using visual measurements. We propose solutions that are based on bearing (and optionally distance) measurements, and agents with double integrator dynamics. We assume that a subset of the agents can track, in addition to their neighbors, a set of static features in the environment. These features are not considered to be part of the formation, but they are used to asymptotically control the velocity of the agents. We analyze the convergence properties of the proposed protocols analytically and through simulations.