Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges
This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptic shape and limited sensing ranges to perform a desired formation and that guarantee no collisions between any agents in the group. The desired formation can be stabilized at feasible referen...
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| Format: | Journal Article |
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Chinese Automatic Control Society
2012
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| Online Access: | http://hdl.handle.net/20.500.11937/47683 |
| _version_ | 1848757901245546496 |
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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 elliptic shape and limited sensing ranges to perform a desired formation and that 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 explicit algebraic separation conditions between ellipses, root conditions of cubic polynomials, the Lyapunov direct method, and smooth or p-times differentiable step functions. These functions are incorporated into novel potential functions to solve the collision avoidance problem without the need for switchings despite the agents’ limited sensing ranges. |
| first_indexed | 2025-11-14T09:35:27Z |
| format | Journal Article |
| id | curtin-20.500.11937-47683 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:35:27Z |
| publishDate | 2012 |
| publisher | Chinese Automatic Control Society |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-476832017-09-13T15:58:41Z Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges Do, Khac collision avoidance Formation control elliptic agents This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptic shape and limited sensing ranges to perform a desired formation and that 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 explicit algebraic separation conditions between ellipses, root conditions of cubic polynomials, the Lyapunov direct method, and smooth or p-times differentiable step functions. These functions are incorporated into novel potential functions to solve the collision avoidance problem without the need for switchings despite the agents’ limited sensing ranges. 2012 Journal Article http://hdl.handle.net/20.500.11937/47683 10.1002/asjc.447 Chinese Automatic Control Society restricted |
| spellingShingle | collision avoidance Formation control elliptic agents Do, Khac Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges |
| title | Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges |
| title_full | Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges |
| title_fullStr | Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges |
| title_full_unstemmed | Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges |
| title_short | Formation Control of Multiple Elliptic Agents with Limited Sensing Ranges |
| title_sort | formation control of multiple elliptic agents with limited sensing ranges |
| topic | collision avoidance Formation control elliptic agents |
| url | http://hdl.handle.net/20.500.11937/47683 |