Electrical Engineering

Indian Institute of Technology Bombay

Impact Spotlight

Topic : Bearing-only formation control over directed cycles

Year: 2020

By: Dwaipayan Mukherjee

Event/Venue: VJTI, Mumbai

Details: This talk discusses a bearing-only formation control problem for a group of single integrator agents over a directed cycle sensing topology. In two-dimensional space, a necessary and sufficient condition for the feasibility of a set of desired bearing vectors will be presented. Then we shall look at a proposed bearing-only control law for every agent and prove that the formation asymptotically converges to a desired one, specified by a set of feasible desired bearing vectors. Subsequently, analyses of the equilibrium formations in a plane, for a three-agent system as well as an n (>3)-agent system, will follow. Finally, the theoretical analysis on a directed triangle in a plane will be extended to the three-dimensional space and the talk will conclude with some simulations that validate the theoretical results.

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IIT Bombay was established in the year 1957 and the department of Electrical Engineering (EE) has been one of its major departments since its inception.

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IIT Bombay was established in the year 1957 and the department of Electrical Engineering (EE) has been one of its major departments since its inception.

Contact Us

IIT Bombay was established in the year 1957 and the department of Electrical Engineering (EE) has been one of its major departments since its inception.

Contact Us

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