Abstract
This paper proposes a feedback control law for navigating mobile agents to form a desired shape consisting of their positions. The objective is to achieve the formation without assuming the agents to start from a sufficiently small neighborhood of the desired shape. The global setting allows one to address reflections and partial reflections of agent positions. Target shapes are defined by excluding reflections and partial reflections which are often undesirable in practice. For agents represented by single-integrator models, this paper demonstrates how targets in a standard control based on their relative position measurements can be switched to generate feedback control input preventing reflected positions with reasonable routing. The effectiveness of the proposed mechanism is studied through numerical simulations.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
