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Distributed circular formation stabilization of unicycles part I: Undirected information flow graph

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2 Author(s)
Mohamed I. El-Hawwary ; Department of Electrical and Computer Engineering, University of Toronto, 10 King's College Road, ON, M5S 3G4, Canada ; Manfredi Maggiore

We investigate the following problem: design a distributed control law making n kinematic unicycles converge to a common circle of prespecified radius, whose centre is stationary but dependent on the initial conditions, and traverse the circle in a desired direction. Moreover, the vehicles are required to converge to a formation on the circle, expressed by desired separations and ordering of the unicycles. We present a solution for the case when the information flow graph is undirected. In part II of this paper we generalize the solution to the case of arbitrary information flow graphs, and to the case of dynamic unicycles.

Published in:

2011 50th IEEE Conference on Decision and Control and European Control Conference

Date of Conference:

12-15 Dec. 2011