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|Title:||Distributed control of angle-constrained cyclic formations using bearing-only measurements|
|Citation:||Zhao, S., Lin, F., Peng, K., Chen, B.M., Lee, T.H. (2014). Distributed control of angle-constrained cyclic formations using bearing-only measurements. Systems and Control Letters 63 (1) : 12-24. ScholarBank@NUS Repository. https://doi.org/10.1016/j.sysconle.2013.10.003|
|Abstract:||This paper studies distributed control of multi-vehicle formations with angle constraints using bearing-only measurements. It is assumed that each vehicle can only measure the local bearings of their neighbors and there are no wireless communications among the vehicles. The desired formation is a cyclic one, whose underlying information flow is described by an undirected cycle graph. We propose a distributed bearing-only formation control law that ensures local exponential or finite-time stability. Collision avoidance between any vehicles can be locally guaranteed in the absence of inter-vehicle distance measurements. © 2013 Elsevier B.V. All rights reserved.|
|Source Title:||Systems and Control Letters|
|Appears in Collections:||Staff Publications|
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