Distributed Circular Formation Control of Nonholonomic Vehicles Without Direct Distance Measurements

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Original languageEnglish
Pages (from-to)2730-2737
Journal / PublicationIEEE Transactions on Automatic Control
Issue number8
Online published5 Jan 2018
Publication statusPublished - Aug 2018


This note presents a static distributed formation control law for nonholonomic vehicles subject to velocity constraints, such that the controlled vehicles travel along a common circle with the given center and radius, while maintaining a desired spaced formation. The center is assumed to be known to only some vehicles. The proposed controller does not require any communication, and only uses local measurements based on a sensor graph of which the topology is modeled by a directed graph satisfying a certain acyclic condition. Moreover, direct distance measurements are not needed. Finally, the simulation results of an example verify effectiveness of the proposed controller.

Research Area(s)

  • Circular formation, distributed control, local measurements, nonholonomic vehicles, velocity constraints