The bearing rigidity theory is applied to mixed formations composed by agents having heterogeneous domains. Necessary and sufficient conditions are provided for the characterization of infinitesimally bearing rigid formations. The stabilization problem for such formations is addressed and a distributed solution proposed and validated through simulations. A location recovery algorithm for fully-actuated formations embedded in SE(3) is presented along with analytical proofs.
Bearing Rigidity Theory: characterization and control of mixed formations and localization
Pozzan, Beniamino
2020/2021
Abstract
The bearing rigidity theory is applied to mixed formations composed by agents having heterogeneous domains. Necessary and sufficient conditions are provided for the characterization of infinitesimally bearing rigid formations. The stabilization problem for such formations is addressed and a distributed solution proposed and validated through simulations. A location recovery algorithm for fully-actuated formations embedded in SE(3) is presented along with analytical proofs.File in questo prodotto:
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Utilizza questo identificativo per citare o creare un link a questo documento:
https://hdl.handle.net/20.500.12608/20965