Core Concepts
Decentralized control using bispherical coordinates ensures global shape convergence in 3D formation.
Abstract
The article introduces a novel 3D formation control scheme using bispherical coordinates for directed graphs. It focuses on achieving global shape convergence while utilizing low-cost onboard vision sensors for follower agents. The content is structured as follows:
- Introduction to Formation Control Methods
- Coordinate-Free Techniques and Their Advantages
- Challenges of Ambiguous Shapes in Formations
- Proposal of a 3D Directed Formation Control Approach Using Bispherical Coordinates
- Problem Formulation and Graph Modeling Assumptions
- Detailed Explanation of Bispherical Coordinate System and Basis Vectors
- Proposed Decentralized Controller Design and Stability Analysis
- Simulation Results Demonstrating Successful Formation Convergence and Scaling
Stats
Our analysis demonstrates that the proposed decentralized formation controller ensures (almost) global asymptotic stability while avoiding potential shape ambiguities in the final formation.
The desired signed volumes are assumed to be V ∗1234 = V ∗2345 = −V ∗3456 = √2/12.
Quotes
"Our analysis demonstrates that the proposed decentralized formation controller ensures (almost) global asymptotic stability while avoiding potential shape ambiguities in the final formation." - Authors