This paper examines stability properties of distance-based formations. These are formations encoded by inter-agent relative distances. A negative gradient control law is proposed and is shown to be provably correct when the formation graph is a tree. Moreover, it is shown that the tree structure is a necessary and sufficient condition for distancebased formation stabilization with negative gradient control laws. For graphs that contain cycles, a characterization of the resulting equilibria is given based on the properties of the cycle space of the graph. The results are also applied to flocking motion for double integrator agents. ; QC 20110120


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    Titel :

    On the stability of distance-based formation control


    Beteiligte:

    Erscheinungsdatum :

    2008-01-01



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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