Fermat-Weber Location based Multi-Agent Formation Generation using Bearings-Only Information

Anjaly, P and Ratnoo, Ashwini (2017) Fermat-Weber Location based Multi-Agent Formation Generation using Bearings-Only Information. In: American Control Conference (ACC), MAY 24-26, 2017, Seattle, WA, pp. 917-922.

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Abstract

The paper discusses the problem of stabilizing a group of n arbitrarily placed agents on to the vertexes of a regular polygon. Using a control law based only on the bearing information, each of the agents pursues the Fermat Weber location with respect to the rest of agents. Analytic guarantees for stability of the proposed control law is deduced. Simulation results validate the efficacy of the proposed methodology. As a first, the work presents a purely bearings-only information based multi-agent control methodology for generating regular polygon formations.

Item Type:	Conference Proceedings
Series.:	Proceedings of the American Control Conference
Publisher:	IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Additional Information:	Copy right for the article belong to IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	13 Apr 2018 19:57
Last Modified:	13 Apr 2018 19:57
URI:	http://eprints.iisc.ac.in/id/eprint/59551

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