Formation shape control based on bearing rigidity

Basit Öğe Kaydı
dc.contributor.authorEren, Tolga
dc.date.accessioned2020-06-25T18:06:48Z
dc.date.available2020-06-25T18:06:48Z
dc.date.issued2012
dc.departmentKırıkkale Üniversitesi
dc.description.abstractDistance measurements are not the only geometric quantities that can be used for multi-agent formation shape control. Bearing measurements can be used in conjunction with distances. This article employs bearing rigidity for mobile formations, which was developed for robot and sensor network localisation, so that bearings can be used for shape control in mobile formations. The first part of this article examines graph theoretical models for formation network analysis and control law design that are needed to maintain the shape of a formation in two-dimensional space, while the formation moves as a cohesive whole. Bearing-based shape control for a formation of mobile agents involves the design of distributed control laws that ensure the formation moves, so that bearing constraints maintain some desired values. The second part of this article focuses on the design of a distributed control scheme for nonholonomic agents to solve the bearing-based formation shape control problem. In particular, a control law using feedback linearisation is proposed based on shape variables. We simulate the shape control behaviour on differential drive agents for an exemplary bearing rigid formation using the results obtained in the first and second parts of this article.en_US
dc.description.sponsorshipScientific and Technological Research Council of TurkeyTurkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK) [108E189]en_US
dc.description.sponsorshipThe author thanks the anonymous reviewers and the Editor for their helpful comments and suggestions for the revision of this article. This work is supported by The Scientific and Technological Research Council of Turkey through the grant 108E189, and is carried out in the framework of European Commission COST Action IC0806, 'Intelligent Monitoring, Control and Security of Critical Infrastructure Systems.'en_US
dc.identifier.citationclosedAccessen_US
dc.identifier.doi10.1080/00207179.2012.685183
dc.identifier.endpage1379en_US
dc.identifier.issn0020-7179
dc.identifier.issn1366-5820
dc.identifier.issue9en_US
dc.identifier.scopus2-s2.0-84863951615
dc.identifier.scopusqualityQ2
dc.identifier.startpage1361en_US
dc.identifier.urihttps://doi.org/10.1080/00207179.2012.685183
dc.identifier.urihttps://hdl.handle.net/20.500.12587/5359
dc.identifier.volume85en_US
dc.identifier.wosWOS:000306171700012
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherTaylor & Francis Ltden_US
dc.relation.ispartofInternational Journal Of Control
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectcooperative controlen_US
dc.subjectformation controlen_US
dc.subjectmultiple agent controlen_US
dc.subjectcoordinated motionen_US
dc.subjectautonomous agentsen_US
dc.subjectrigid graph theoryen_US
dc.titleFormation shape control based on bearing rigidityen_US
dc.typeArticle

Dosyalar

Orijinal paket
Listeleniyor 1 - 1 / 1
[ X ]
İsim:
Formation shape control based on bearing rigidity.pdf
Boyut:
2.04 MB
Biçim:
Adobe Portable Document Format
Açıklama:
Tam Metin/Full Text
İndir

Koleksiyon

WOS İndeksli Yayınlar Koleksiyonu
Makale Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu