Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect and by introducing distributed parameters to the prescribed inter-distances we are able to manipulate the steady-state motion of the formation. This manipulation is in the form of inducing simultaneously the combination of constant translational and angular velocities and a controlled scaling of the rigid formation. While the computation of the distributed parameters for the translational and angular velocities is based on the well-known graph rigidity theory, the parameters responsible for the scaling are based on some recent findings in bearing rigidity theory. We carry out the stability analysis of the modified gradient system and simulations in order to validate the main result.
Multi-Agent Distributed Coordination Control: Developments and Directions
College of Mechantronic Engineering and Automation, National University of Defense Technology（国防科技大学机电工程与自动化学院）；Research School of Engineering, the Australian National University（澳大利亚国立大学工程学院研究学院）
本文综述了分布式协调控制的发展，重点讨论了共识与编队控制，结合图论分析，并简要回顾了 rendezvous/alignment、swarming/flocking 和 containment control 等相关问题，最后探讨了实际应用中的研究方向。
Lund University（隆德大学）；Westlake University（西湖大学）；Hangzhou Dianzi University（杭州电子科技大学）；Data61-CSIRO（澳大利亚联邦科学与工业研究组织Data61研究院）；The Australian National University（澳大利亚国立大学）
