CUED Publications database

Coordinated motion design on lie groups

Sarlette, A and Bonnabel, S and Sepulchre, R (2010) Coordinated motion design on lie groups. IEEE Transactions on Automatic Control, 55. pp. 1047-1058. ISSN 0018-9286

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Abstract

The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings with simple integrator dynamics. It thereby shows that coordination can be studied in a systematic way once the Lie group geometry of the configuration space is well characterized. Applying the proposed general methodology to particular examples allows to retrieve control laws that have been proposed in the literature on intuitive grounds. A link with Brockett's double bracket flows is also made. The concepts are illustrated on SO(3), SE(2) and SE(3). © 2010 IEEE.

Item Type: Article
Uncontrolled Keywords: Cooperative systems Distributed control Geometric control Lie groups Motion planning
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:25
Last Modified: 19 Dec 2014 19:01
DOI: 10.1109/TAC.2010.2042003