Samenvatting
This paper studies a particular property of formation rigidity, which is termed infinitesimal sign rigidity, to specify multi-agent target formations using distance- and signed volume-constraints in 3-D space. In comparison with the conventional rigidity theory with distance constraints only, the concept of infinitesimal sign rigidity employs signed volume constraints to eliminate the possibility of formation ambiguity issues arising in 3-D space. Based on the property of infinitesimal sign rigidity, this paper explores a formation specification control law to achieve multi-agent formations with desired distances and signed volumes in 3-D space. It is shown that under the control law, agents close to a target formation can converge to a formation with desired distances and signed volumes exponentially fast.
| Originele taal-2 | Engels |
|---|---|
| Titel | 2022 13th Asian Control Conference (ASCC) |
| Uitgeverij | Institute of Electrical and Electronics Engineers |
| Pagina's | 1202-1207 |
| Aantal pagina's | 6 |
| ISBN van elektronische versie | 978-89-93215-23-6 |
| DOI's | |
| Status | Gepubliceerd - 20 jul. 2022 |
| Evenement | 13th Asian Control Conference, ASCC 2022 - Jeju, Zuid-Korea Duur: 4 mei 2022 → 7 mei 2022 Congresnummer: 13 |
Congres
| Congres | 13th Asian Control Conference, ASCC 2022 |
|---|---|
| Land/Regio | Zuid-Korea |
| Stad | Jeju |
| Periode | 4/05/22 → 7/05/22 |
Bibliografische nota
Funding Information:This work was supported by the National Research Foundation (NRF) of Korea under the grant NRF-2022R1A2B5B03001459.
Financiering
ACKNOWLEDGMENT This work was supported by the National Research Foundation (NRF) of Korea under the grant NRF-2022R1A2B5B03001459.