Abstract
Flip ambiguities are a notorious issue with distance-based formation control due to the presence of unwanted equilibrium points in the formation dynamics. We propose a switched control system for preventing these ambiguities in 3D formations composed of tetrahedra. The approach contains a switching strategy that steers the formation of mobile robots towards the desired configuration for all initial positions, excluding certain collocated, collinear, or coplanar cases, by applying the standard distance-based controller and/or rigid-body maneuvers to subformations. Simulations demonstrate that the proposed formation control system can lead to faster formation acquisition and less control effort than an existing method.
| Original language | English |
|---|---|
| Article number | 39 |
| Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
| Volume | 110 |
| Issue number | 1 |
| Early online date | Feb 23 2024 |
| DOIs | |
| State | Published - Feb 23 2024 |
| Externally published | Yes |
Keywords
- Formation control
- Multi-agent systems
- Nonlinear Control
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