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Distributed circular formation stabilization of unicycles part II: Arbitrary information flow graph

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2 Author(s)
El-Hawwary, M.I. ; Edward S. Rogers Sr. Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada ; Maggiore, M.

In part I of this paper we presented a solution to the circular formation stabilization problem of kinematic unicycles when the information flow graph is undirected. This paper extends the results of part I in two directions. First, we present a control law that solves the circular formation stabilization problem when the information flow is described by an arbitrary directed graph with a globally reachable node. Second, we generalize our results to the case when the unicycles are dynamic.

Published in:

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Date of Conference:

12-15 Dec. 2011