Robust control of undirected rigid formations with constant measurement bias in relative positions
Fengjiao Liu, A. Stephen Morse, Brian D. O. Anderson · 2016
This paper investigates the robust control of a class of minimally infinitesimally rigid formations in the face of constant bias in the measurements of relative positions between neighboring agents. It is shown that by appropriately modifying standard gradient controls, desired formation shape can be achieved up to small errors in relative positions.