Bearing-Only Formation Control Using an SE(2) Rigidity Theory

Daniel Zelazo 1 Paolo Robuffo Giordano 2 Antonio Franchi 3
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
3 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : This paper considers a formation control problem for a team of agents that are only able to sense the relative bearings from their local body frame to neighboring agents. It is further assumed that the sensing graph is inherently directed and a common reference frame is not known to all of the agents. Each agent is tasked with maintaining predetermined bearings with their neighbors. Using the recently developed rigidity theory for SE(2) frameworks [1], we propose a gradient-type controller to stabilize the formation. The central construct in the SE(2) rigidity theory for this work is the directed bearing rigidity matrix. We show that a necessary condition for the local stabilization of desired formation is for the corresponding SE(2) framework to be minimally infinitesimally rigid.
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Communication dans un congrès
IEEE Conf. on Decision and Control, CDC 2015 , Dec 2015, Osaka, Japan. 2015
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Daniel Zelazo, Paolo Robuffo Giordano, Antonio Franchi. Bearing-Only Formation Control Using an SE(2) Rigidity Theory. IEEE Conf. on Decision and Control, CDC 2015 , Dec 2015, Osaka, Japan. 2015. 〈hal-01187978〉

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