@inproceedings{e101bd1986b04498ab3e0c8ccb7d5e53,
title = "Dynamic Affine Formation Control of Multiple Unicycle Modelled Agents",
abstract = "This article studies a distributed affine dynamic formation control problem of multiple unicycle-type agents. The moving target formation can be generated from the given nominal formation according to the affine transformation. With the designed dynamic affine formation control method, the desired moving velocity can be time-varying and the heading directions can be all the same simultaneously. If only a subset of the agents know the information of the desired moving velocity, then the control method is modified into an estimator-based one. The proposed control methods using the relative position information can be executed in the local coordinate frame of each agent. The correctness is verified by both theoretical proofs and numerical simulations.",
keywords = "Dynamic affine formation control, Multi-agent systems, Undirected graphs, Unicycle-type agents",
author = "Yang Xu and Delin Luo",
note = "Publisher Copyright: {\textcopyright} 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2020 ; Conference date: 23-10-2020 Through 25-10-2020",
year = "2022",
doi = "10.1007/978-981-15-8155-7_151",
language = "英语",
isbn = "9789811581540",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "1791--1803",
editor = "Liang Yan and Haibin Duan and Xiang Yu",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020",
}