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• W2953044765 abstract "In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center manifold theory or via a Lyapunov-based approach. It is well known that there are various other undesired invariant sets of the robots' closed-loop dynamics. This paper addresses a global stability analysis by a differential geometric approach considering invariant manifolds and their local stability properties. The theoretical results are then applied to the well-known example of a cyclic triangular formation and result in instability of all invariant sets other than the target formation." @default.
• W2953044765 created "2019-06-27" @default.
• W2953044765 creator A5064398378 @default.
• W2953044765 creator A5091434894 @default.
• W2953044765 date "2010-01-25" @default.
• W2953044765 modified "2023-09-27" @default.
• W2953044765 title "Geometric Analysis of the Formation Problem for Autonomous Robots" @default.
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• W2953044765 hasPublicationYear "2010" @default.
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