Control of Small Formations Using Shape Coordinates

Abstract

Formations that contain a small number of robots are modeled as controlled Lagrangian systems on Jacobi shape space. This allows a block-structured control of position, orientation, and shape of the formation. Feedback control laws are derived using control Lyapunov functions. The controlled dynamics converge to the invariant set where desired shape is achieved. Controllers are implemented in a layered fashion via the extended motion description language (MDLe) system. Group MDLe plans are constructed to allow structured controller design for formations.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2003
Accession Number
ADA439985

Entities

People

  • Fumin Zhang
  • Michael Goldgeier
  • P.S.Krishnaprasad

Organizations

  • University of Maryland

Tags

Communities of Interest

  • Autonomy
  • C4I

DTIC Thesaurus Topics

  • Coordinate Systems
  • Differential Equations
  • Dynamics
  • Energy
  • Engineering
  • Equations
  • Feedback
  • Formal Languages
  • Kinetic Energy
  • Language
  • Law
  • Lie Groups
  • Lyapunov Functions
  • Maryland
  • New York
  • Robots
  • Universities

Readers

  • Calculus or Mathematical Analysis
  • Computer Science.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers