Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints
This paper presents two formation tracking control strategies for a combined set of single and double integrator agents with an arbitrary undirected communication topology. The first approach is based on the design of distance-based potential functions with interagent collision avoidance using local...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2017-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2017/9404193 |
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| _version_ | 1832549617348116480 |
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| author | E. G. Hernandez-Martinez E. D. Ferreira-Vazquez G. Fernandez-Anaya J. J. Flores-Godoy |
| author_facet | E. G. Hernandez-Martinez E. D. Ferreira-Vazquez G. Fernandez-Anaya J. J. Flores-Godoy |
| author_sort | E. G. Hernandez-Martinez |
| collection | DOAJ |
| description | This paper presents two formation tracking control strategies for a combined set of single and double integrator agents with an arbitrary undirected communication topology. The first approach is based on the design of distance-based potential functions with interagent collision avoidance using local information about the distance and orientation between agents and the desired trajectory. The second approach adds signed area constraints to the desired formation specification and a control strategy that uses distance as well as area terms is designed to achieve tracking convergence. Numerical simulations show the performance from both control laws. |
| format | Article |
| id | doaj-art-d68df353d5b544a09cfd3363a2e143e2 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-d68df353d5b544a09cfd3363a2e143e22025-02-03T06:11:01ZengWileyComplexity1076-27871099-05262017-01-01201710.1155/2017/94041939404193Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area ConstraintsE. G. Hernandez-Martinez0E. D. Ferreira-Vazquez1G. Fernandez-Anaya2J. J. Flores-Godoy3Engineering Department, Universidad Iberoamericana, 01219 Mexico City, MexicoElectrical Engineering Department, Universidad Católica del Uruguay, 11600 Montevideo, UruguayPhysics and Mathematics Department, Universidad Iberoamericana, 01219 Mexico City, MexicoMathematics Department, Universidad Católica del Uruguay, 11600 Montevideo, UruguayThis paper presents two formation tracking control strategies for a combined set of single and double integrator agents with an arbitrary undirected communication topology. The first approach is based on the design of distance-based potential functions with interagent collision avoidance using local information about the distance and orientation between agents and the desired trajectory. The second approach adds signed area constraints to the desired formation specification and a control strategy that uses distance as well as area terms is designed to achieve tracking convergence. Numerical simulations show the performance from both control laws.http://dx.doi.org/10.1155/2017/9404193 |
| spellingShingle | E. G. Hernandez-Martinez E. D. Ferreira-Vazquez G. Fernandez-Anaya J. J. Flores-Godoy Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints Complexity |
| title | Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints |
| title_full | Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints |
| title_fullStr | Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints |
| title_full_unstemmed | Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints |
| title_short | Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints |
| title_sort | formation tracking of heterogeneous mobile agents using distance and area constraints |
| url | http://dx.doi.org/10.1155/2017/9404193 |
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