Formation control of multiple elliptical agents with limited sensing ranges
This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptical shape and with limited sensing ranges to perform a desired formation. The controllers guarantee no collisions between any agents in the group. The desired formation can be stabilized at f...
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| Format: | Journal Article |
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Pergamon
2012
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| Online Access: | http://hdl.handle.net/20.500.11937/10093 |
| _version_ | 1848746137309151232 |
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| author | Do, Khac |
| author_facet | Do, Khac |
| author_sort | Do, Khac |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptical shape and with limited sensing ranges to perform a desired formation. The controllers guarantee no collisions between any agents in the group. The desired formation can be stabilized at feasible reference trajectories with bounded time derivatives. The formation control design is based on an algebraic separation condition between ellipses, Lyapunov’s method, and smooth or p-times differentiable step functions. These functions are introduced and incorporated into novel potential functions to solve the collision avoidance problem without the need for switchings under the agents’ limited sensing ranges. |
| first_indexed | 2025-11-14T06:28:28Z |
| format | Journal Article |
| id | curtin-20.500.11937-10093 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T06:28:28Z |
| publishDate | 2012 |
| publisher | Pergamon |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-100932019-02-19T04:26:59Z Formation control of multiple elliptical agents with limited sensing ranges Do, Khac Potential functions Collision avoidance Lyapunov’s method Elliptical agents Formation control This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptical shape and with limited sensing ranges to perform a desired formation. The controllers guarantee no collisions between any agents in the group. The desired formation can be stabilized at feasible reference trajectories with bounded time derivatives. The formation control design is based on an algebraic separation condition between ellipses, Lyapunov’s method, and smooth or p-times differentiable step functions. These functions are introduced and incorporated into novel potential functions to solve the collision avoidance problem without the need for switchings under the agents’ limited sensing ranges. 2012 Journal Article http://hdl.handle.net/20.500.11937/10093 10.1016/j.automatica.2012.04.005 Pergamon fulltext |
| spellingShingle | Potential functions Collision avoidance Lyapunov’s method Elliptical agents Formation control Do, Khac Formation control of multiple elliptical agents with limited sensing ranges |
| title | Formation control of multiple elliptical agents with limited sensing ranges |
| title_full | Formation control of multiple elliptical agents with limited sensing ranges |
| title_fullStr | Formation control of multiple elliptical agents with limited sensing ranges |
| title_full_unstemmed | Formation control of multiple elliptical agents with limited sensing ranges |
| title_short | Formation control of multiple elliptical agents with limited sensing ranges |
| title_sort | formation control of multiple elliptical agents with limited sensing ranges |
| topic | Potential functions Collision avoidance Lyapunov’s method Elliptical agents Formation control |
| url | http://hdl.handle.net/20.500.11937/10093 |