Securing Isosceles Triangular Formations under Heterogeneous Sensing and Mixed Constraints

2021/01/02 by Nelson P. K. Chan, Chan, Nelson P. K., Bayu Jayawardhana +3
Computer Science · Engineering · #93D99 #Advanced Memory and Neural Computing #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Guidance and Control Systems #I.2.9 #Optimization and Control (math.OC) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2101.00474

openalex publication_date 2021/01/02 · openalex created_date 2021/01/18 · openalex updated_date 2026/07/28

Abstract

This paper focuses on securing a triangular shape (up to translation) for a team of three mobile robots that uses heterogeneous sensing mechanism. Based on the available local information, each robot employs the popular gradient-based control law to attain the assigned individual task(s). In the current work, robots are assigned either distance and signed area task(s) or bearing task(s). We provide a sufficient condition on the gain ratio R_Ad between the signed area and the distance control term such that the desired formation shape, an isosceles triangle, is reached from all feasible starting positions. Numerical simulations are provided to support the theoretical analyses.

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