Necessary and sufficient graphical conditions for formation control of unicycles
Necessary and sufficient graphical conditions for formation control of unicycles
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DOI：
10.1109/tac.2004.841121
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发表时间：
2005-01-01
影响因子：
6.8
通讯作者：
Maggiore, M
中科院分区：
文献类型：
--
作者：
Lin, ZY;Francis, B;Maggiore, M
研究了通过局部分布式控制在一组自主独轮车之间实现特定队形的可行性问题。由信息流定义的有向图起着关键作用。证明了队形稳定到一个点是可行的，当且仅当传感器有向图具有一个全局可达节点。对于队形稳定到一条线以及更一般的几何排列，给出了类似的结果。
The feasibility problem is studied of achieving a specified formation among a group of autonomous unicycles by local distributed control. The directed graph defined by the information flow plays a key role. It is proved that formation stabilization to a point is feasible if and only if the sensor digraph has a globally reachable node. A similar result is given for formation stabilization to a line and to more general geometric arrangements.