Feasibility for formation stabilization of multiple unicycles
Zhiyun Lin, B. Francis, Manfredi Maggiore · 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) · 2004
The feasibility problem is studied of achieving a specified formation among a group of autonomous unicycles by local distributed control. The directed graph defined by the information flow plays a key role. Necessary and sufficient conditions are presented for formation stabilization of multiple unicycles to a point and a line. A similar result is given for formation stabilization to more general geometric arrangements with the condition that a group of unicycles have a common sense of direction.