Steering laws for distributed motion coordination of kinematic agents in three dimensions

Abstract

Follow this and additional works at: http://repository.upenn.edu/ese_papers Moshtagh, N.; Jadbabaie, A., "Steering laws for distributed motion coordination of kinematic agents in three dimensions," Decision and Control, 2008. CDC 2008. 47th IEEE Conference on , vol., no., pp.1741-1746, 9-11 Dec. 2008 Decision and Control, 2008 (CDC 2008), vol., no., pp.1741-1746, 9-11 Dec. 2008 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. Recommended CitationNima Moshtagh and Ali Jadbabaie, "Steering laws for distributed motion coordination of kinematic agents in three dimensions", . December 2008. Steering laws for distributed motion coordination of kinematic agents in three dimensions AbstractWe develop a systematic approach to synthesize distributed control laws for motion coordination in a group of constant-speed kinematic rigid bodies. Parallel and balanced circular formations of mobile agents moving in a three dimensional space are studied, and provably correct steering laws are presented. The resulting steering laws have simple geometric intuitions which are based on the structure of each particular formation. Decision and Control, 2008 (CDC 2008), vol., no., pp.1741-1746, 9-11 Dec. 2008 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/480 Steering Laws for Distributed Motion Coordination of Kinematic Agents in Three DimensionsNima Moshtagh † , Ali Jadbabaie * Abstract-We develop a systematic approach to synthesize distributed control laws for motion coordination in a group of constant-speed kinematic rigid bodies. Parallel and balanced circular formations of mobile agents moving in a three dimensional space are studied, and provably correct steering laws are presented. The resulting steering laws have simple geometric intuitions which are based on the structure of each particular formation.

Backstepping control design for motion coordination of self‐propelled vehicles in a flowfield

“…In prior work, each particle controls the rate of change of the orientation of its velocity; hence, the rotational dynamics are first‐order differential equations 8. The steering control is modeled as a force orthogonal to the particle's velocity so that the particle's direction of travel is under control, but the speed is constant 9. Formation control laws for this particle model have been developed for parallel and circular formations in the absence of a flowfield 8 and in a uniform, time‐invariant flowfield 10.…”