CUED Publications database

Stabilization laws for collective motion in three dimensions

Scardovi, L and Sepulchre, R and Leonard, NE (2007) Stabilization laws for collective motion in three dimensions. In: UNSPECIFIED pp. 4591-4597..

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This paper proposes a framework for the design of control laws that stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Under the assumption of all-to-all communication, the derived control laws only require relative orientations and positions. We extend the obtained results in the presence of limited communication topologies by equipping each agent with a consensus estimator.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:41
Last Modified: 02 Sep 2021 04:53
DOI: doi:10.23919/ecc.2007.7068915