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Steering laws for distributed motion coordination of kinematic agents in three dimensions

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2 Author(s)
Moshtagh, N. ; GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA, USA ; Jadbabaie, A.

We develop a systematic approach to synthesize distributed control laws for motion coordination in a group of constant-speed kinematic rigid bodies. Parallel and balanced circular formations of mobile agents moving in a three dimensional space are studied, and provably correct steering laws are presented. The resulting steering laws have simple geometric intuitions which are based on the structure of each particular formation.

Published in:

Decision and Control, 2008. CDC 2008. 47th IEEE Conference on

Date of Conference:

9-11 Dec. 2008