CUED Publications database

Coordination on Lie groups

Sarlette, A and Bonnabel, S and Sepulchre, R (2008) Coordination on Lie groups. In: UNSPECIFIED pp. 1275-1279..

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This paper studies the coordinated motion of a group of agents evolving on a Lie group. Left-or rightinvariance with respect to the absolute position on the group lead to two different characterizations of relative positions and two associated definitions of coordination (fixed relative positions). Conditions for each type of coordination are derived in the associated Lie algebra. This allows to formulate the coordination problem on Lie groups as consensus in a vector space. Total coordination occurs when both types of coordination hold simultaneously. The discussion in this paper provides a common geometric framework for previously published coordination control laws on SO(3), SE(2) and SE(3). The theory is illustrated on the group of planar rigid motion SE(2). © 2008 IEEE.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Divisions: Div F > Control
Depositing User: Unnamed user with email
Date Deposited: 09 Dec 2016 18:13
Last Modified: 30 Mar 2017 01:47