Can I read Equilibria and Steering Laws for Planar Formations on EtoBox?

Equilibria and Steering Laws for Planar Formations by E.W. Justh; P.S. Krishnaprasad is a Engineering article available to read on EtoBox.

What is Equilibria and Steering Laws for Planar Formations about?

This paper presents a Lie group setting for the problem of control of formations, as a natural outcome of the analysis of a planar two-vehicle formation control law. The vehicle trajectories are described using the planar Frenet-Serret equations of motion, which capture the evolution of both the vehicle position and orientation for unit-speed motion subject to curvature (steering) control. The set of all possible (relative) equilibria for arbitrary G-invariant curvature controls is described (where G =SE(2) is a symmetry group for the control law), and a global convergence result for the two-vehicle control law is proved. An n-vehicle generalization of the two-vehicle control law is also presented, and the corresponding (relative) equilibria for the n-vehicle problem are characterized. Work is on-going to discover stability and convergence results for the n-vehicle problem.

Who reads Equilibria and Steering Laws for Planar Formations?

Author

E.W. Justh; P.S. Krishnaprasad

Publisher

Elsevier Science; Elsevier ; Elsevier BV (ISSN 0167-6911)

Published

2004

Language

EN

Field

Engineering (Physical Sciences)