Distributed cooperative shape control in multiagent formations using bearing measurements

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dc.contributor.authorEren T.
dc.date.accessioned2020-06-25T15:14:46Z
dc.date.available2020-06-25T15:14:46Z
dc.date.issued2011
dc.departmentKırıkkale Üniversitesi
dc.description.abstractConstrained distance measurements are not the only geometrically pertinent quantities that can be used for formation shape control. Other measurement constraints include bearings, which are examined in this paper. Directed parallel rigidity based on bearings was used for localization in agent networks. This paper employs this concept for shape control in multiagent formations with leader-follower architecture. We show that bearings can be used for shape control, not only for balanced circular formations that was studied earlier in the literature, but for a large class of networks satisfying the conditions of directed bearing based rigidity. Here, agents are two wheeled kinematic unicycles. Then the paper focuses on the planner level and controller level of the architecture by designing fuzzy planners using bearing constraints and fuzzy controllers to be operated at each agent that will maintain the shape of a formation. The validity of the proposed approach is tested through simulation experiments. © 2011 IFAC.en_US
dc.description.sponsorshipEuropean Cooperation in Science and Technology: IC0806 Türkiye Bilimsel ve Teknolojik Araştirma Kurumu: 108E189en_US
dc.description.sponsorship? 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.doi10.3182/20110828-6-IT-1002.01852
dc.identifier.endpage4820en_US
dc.identifier.isbn9783902661937
dc.identifier.issn14746670
dc.identifier.issue1 PART 1en_US
dc.identifier.scopus2-s2.0-84866759777
dc.identifier.scopusqualityN/A
dc.identifier.startpage4815en_US
dc.identifier.urihttps://doi.org/10.3182/20110828-6-IT-1002.01852
dc.identifier.urihttps://hdl.handle.net/20.500.12587/2191
dc.identifier.volume44en_US
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherIFAC Secretariaten_US
dc.relation.ispartofIFAC Proceedings Volumes (IFAC-PapersOnline)
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectAgentsen_US
dc.subjectAutonomous mobile robotsen_US
dc.subjectAutonomous vehiclesen_US
dc.subjectCooperative controlen_US
dc.subjectDecentralizationen_US
dc.subjectFuzzy controlen_US
dc.subjectIntelligent control of large scale systemsen_US
dc.subjectLarge scale complex systemsen_US
dc.titleDistributed cooperative shape control in multiagent formations using bearing measurementsen_US
dc.typeConference Object

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