Maneuvering Angle Rigid Formations With Global Convergence Guarantees Article Swipe
Liangming Chen
,
Zhiyun Lin
,
Héctor García de Marina
,
Zhiyong Sun
,
Mir Feroskhan
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.1109/jas.2022.105749
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.1109/jas.2022.105749
Angle rigid multi-agent formations can simultaneously undergo translational, rotational, and scaling maneuvering, therefore combining the maneuvering capabilities of both distance and bearing rigid formations. However, maneuvering angle rigid formations in 2D or 3D with global convergence guarantees is shown to be a challenging problem in the existing literature even when relative position measurements are available. Motivated by angle-induced linear equations in 2D triangles and 3D tetrahedra, this paper aims to solve this challenging problem in both 2D and 3D under a leader-follower framework. For the 2D case where the leaders have constant velocities, by using local relative position and velocity measurements, a formation maneuvering law is designed for the followers governed by double-integrator dynamics. When the leaders have time-varying velocities, a sliding mode formation maneuvering law is proposed by using the same measurements. For the 3D case, to establish an angle-induced linear equation for each tetrahedron, we assume that all the followers' coordinate frames share a common Z direction. Then, a formation maneuvering law is proposed for the followers to globally maneuver Z-weakly angle rigid formations in 3D. The extension to Lagrangian agent dynamics and the construction of the desired rigid formations by using the minimum number of angle constraints are also discussed. Simulation examples are provided to validate the effectiveness of the proposed algorithms.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/jas.2022.105749
- OA Status
- gold
- Cited By
- 15
- References
- 38
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4289654359
All OpenAlex metadata
Raw OpenAlex JSON
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https://openalex.org/W4289654359Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1109/jas.2022.105749Digital Object Identifier
- Title
-
Maneuvering Angle Rigid Formations With Global Convergence GuaranteesWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2022Year of publication
- Publication date
-
2022-08-01Full publication date if available
- Authors
-
Liangming Chen, Zhiyun Lin, Héctor García de Marina, Zhiyong Sun, Mir FeroskhanList of authors in order
- Landing page
-
https://doi.org/10.1109/jas.2022.105749Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://research.tue.nl/en/publications/0447d872-0cfe-42dd-a7b8-d26ff63a0849Direct OA link when available
- Concepts
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Tetrahedron, Convergence (economics), Position (finance), Rigid body, Rotation (mathematics), Computer science, Double integrator, Angular velocity, Geometry, Mathematics, Physics, Artificial intelligence, Classical mechanics, Multi-agent system, Economic growth, Economics, FinanceTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
15Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 9, 2024: 5, 2023: 1Per-year citation counts (last 5 years)
- References (count)
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38Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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