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Stabilization of Collective Motion in Three Dimensions : A Consensus Approach
Scardovi, Luca; Leonard, Naomi; Sepulchre, Rodolphe
2007In Proceedings of 46th IEEE Conference on Decision and Control
Peer reviewed
 

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Keywords :
Motion coordination; Nonlinear systems; Multi-agent systems; Consensus; Multi-vehicle formations
Abstract :
[en] This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in three- dimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the stabilization problem is reduced to a consensus problem on the Lie algebra. The resulting equilibria correspond to parallel, circular and helical formations. We rst derive the stabilizing control laws in the presence of all-to-all communication. Providing each agent with a consensus estimator, we then extend the results to a general setting that allows for unidirectional and time-varying communication topologies.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Scardovi, Luca;  Princeton University, Princeton USA > Department of Mechanical and Aerospace Engineering
Leonard, Naomi;  Princeton University, Princeton USA > Department of Mechanical and Aerospace Engineering,
Sepulchre, Rodolphe ;  Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation
Language :
English
Title :
Stabilization of Collective Motion in Three Dimensions : A Consensus Approach
Publication date :
December 2007
Event name :
46th IEEE Conference on Decision and Control
Event place :
New-Orleans, United States - Louisiana
Event date :
du 12 au 14 décembre 2007
By request :
Yes
Audience :
International
Main work title :
Proceedings of 46th IEEE Conference on Decision and Control
Pages :
2931-2936
Peer reviewed :
Peer reviewed
Available on ORBi :
since 06 December 2010

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