Abstract
The feasibility problem is studied of achieving a specified formation among a group of autonomous unicycles by local distributed control. The directed graph defined by the information flow plays a key role. It is proved that formation stabilization to a point is feasible if and only if the sensor digraph has a globally reachable node. A similar result is given for formation stabilization to a line and to more general geometric arrangements.
Keywords
DigraphControl theory (sociology)Directed graphGraphControl (management)Computer sciencePoint (geometry)Key (lock)Strongly connected componentMathematicsTheoretical computer scienceDiscrete mathematicsAlgorithm
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Publication Info
- Year
- 2005
- Type
- article
- Volume
- 50
- Issue
- 1
- Pages
- 121-127
- Citations
- 1034
- Access
- Closed
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Cite This
Zhiyun Lin,
Brian Francis,
Manfredi Maggiore
(2005).
Necessary and sufficient graphical conditions for formation control of unicycles.
IEEE Transactions on Automatic Control
, 50
(1)
, 121-127.
https://doi.org/10.1109/tac.2004.841121
Identifiers
- DOI
- 10.1109/tac.2004.841121