Controlling anonymous mobile agents to form a circle formation in a   plane without collision

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	Controlling anonymous mobile agents to form a circle formation in a plane without collision
	Wang, Chen ; Xie, Guangming
	2016
关键词	SENSOR NETWORKS ROBOTS VEHICLES TARGET RING
英文摘要	We study the circle formation problem for a group of anonymous mobile agents in a plane, in which we require that all the agents converge onto a desired circle surrounding a preset target point asymptotically as well as they maintain any desired relative distance from their neighbors. Each agent is modeled as a kinematic point and can merely sense the relative position information of the target and its neighbors. A distributed control law is designed to solve the problem. One feature of the proposed control law is that it guarantees that no collision between agents ever takes place throughout the system's evolution. Both theoretical analysis and numerical simulations are given to show the effectiveness and performance of the proposed formation control law.; National Natural Science Foundation of China (NSFC) [51575005, 61503008, 61633002]; China Postdoctoral Science Foundation [2015M570013, 2016T90016]; CPCI-S(ISTP); 916-921
会议录	55th IEEE Conference on Decision and Control (CDC)
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/470242]
专题	工学院
推荐引用方式 GB/T 7714	Wang, Chen,Xie, Guangming. Controlling anonymous mobile agents to form a circle formation in a plane without collision[C]. 见:.