Abstract
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between segments uniquely up to translations, rotations, scalings and reflections. The proposed angle rigidity theory is applied to the formation stabilization problem, where multiple single-integrator modeled agents cooperatively achieve an angle-constrained formation. During the formation process, the global coordinate system is unknown for each agent and wireless communications between agents are not required. Moreover, by utilizing the advantage of high degrees of freedom, we propose a distributed control law for agents to stabilize a target formation shape with desired orientation and scale. Simulation examples are performed for illustrating the effectiveness of the proposed control strategies.
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.
