Robotics: Science and Systems IV

Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots

Nima Moshtagh, Nathan Michael, Ali Jadbabaie, Kostas Daniilidis

Abstract: 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.

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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} 
}