Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance
Files
Accepted manuscript
Date
2016-12-12
Authors
Tron, Roberto
Thomas, Justin
Loianno, Giuseppe
Daniilidis, Kostas
Kumar, Vijay
Version
OA Version
Citation
Tron, R., Thomas, J., Loianno, G., Daniilidis, K., & Kumar, V. (2016, December). Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance. In Decision and Control (CDC), 2016 IEEE 55th Conference on (pp. 1806-1813).
Abstract
We address the controller synthesis problem for distributed formation control. Our solution requires only relative bearing measurements (as opposed to full translations), and is based on the exact gradient of a Lyapunov function with only global minimizers (independently from the formation topology). These properties allow a simple proof of global asymptotic convergence, and extensions for including distance measurements, leaders and collision avoidance. We validate our approach through simulations and comparison with other stateof-the-art algorithms.