Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Stabilization of rigid body dynamics by internal and external torques
Automatica (Journal of IFAC)
Stabilization of underwater vehicle dynamics with symmetry-breaking potentials
Systems & Control Letters
Sync: The Emerging Science of Spontaneous Order
Sync: The Emerging Science of Spontaneous Order
Stable Synchronization of Mechanical System Networks
SIAM Journal on Control and Optimization
Consensus Optimization on Manifolds
SIAM Journal on Control and Optimization
Brief Synchronized multiple spacecraft rotations
Automatica (Journal of IFAC)
Brief paper: Distributed finite-time attitude containment control for multiple rigid bodies
Automatica (Journal of IFAC)
| Hi-index | 22.15 |
Control laws to synchronize attitudes in a swarm of fully actuated rigid bodies, in the absence of a common reference attitude or hierarchy in the swarm, are proposed in [Smith, T. R., Hanssmann, H., & Leonard, N.E. (2001). Orientation control of multiple underwater vehicles with symmetry-breaking potentials. In Proc. 40th IEEE conf. decision and control (pp. 4598-4603); Nair, S., Leonard, N. E. (2007). Stable synchronization of rigid body networks. Networks and Heterogeneous Media, 2(4), 595-624]. The present paper studies two separate extensions with the same energy shaping approach: (i) locally synchronizing the rigid bodies' attitudes, but without restricting their final motion and (ii) relaxing the communication topology from undirected, fixed and connected to directed, varying and uniformly connected. The specific strategies that must be developed for these extensions illustrate the limitations of attitude control with reduced information.