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The feasibility problem is studied of achieving a specified formation among a group of autonomous unicycles by local distributed control. The directed graph defined by the information flow plays a key role. Necessary and sufficient conditions are presented for formation stabilization of multiple unicycles to a point and a line. A similar result is given for formation stabilization to more general geometric arrangements with the condition that a group of unicycles have a common sense of direction.
Decision and Control, 2004. CDC. 43rd IEEE Conference on (Volume:3 )
Date of Conference: 14-17 Dec. 2004