Stability Analysis of Gradient-Based Distributed Formation Control with Heterogeneous Sensing Mechanism: the Three Robot Case

Nelson Chan*, Bayu Jayawardhana, Hector Garcia de Marina Peinado

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

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This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. For the setups consisting of three robots, we show that the use of heterogeneous gradient- based control laws can give rise to undesired invariant sets where a distorted formation shape is possibly moving at a constant velocity. We guarantee local asymptotic stability for the correct and desired formation shape. For the setup with one distance and two bearing robots, we identify the conditions such that an incorrect moving formation is locally attractive.
Original languageEnglish
Pages (from-to)4285 - 4292
Number of pages8
JournalIEEE-Transactions on Automatic Control
Issue number8
Publication statusPublished - 28-Sep-2021


  • formation control
  • robotics
  • mobile robots

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