Robotics: Science and Systems IV
Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots
Nima Moshtagh, Nathan Michael, Ali Jadbabaie, Kostas DaniilidisAbstract: For a group of constant-speed ground robots, a set of control laws are designed to stabilize the motion of the group into a balanced circular formation using a consensus approach. It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanced circular formation. We consider two different scenarios that the connectivity graph of the system is either a complete graph or a ring. Collision avoidance capabilities are added to the team members and the effectiveness of the control laws are demonstrated on a group of mobile robots.
Bibtex:
@INPROCEEDINGS{Moshtagh-RSS08, AUTHOR = {Nima Moshtagh, Nathan Michael, Ali Jadbabaie, Kostas Daniilidis}, TITLE = {Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots}, BOOKTITLE = {Proceedings of Robotics: Science and Systems IV}, YEAR = {2008}, ADDRESS = {Zurich, Switzerland}, MONTH = {June}, DOI = {10.15607/RSS.2008.IV.016} }