Tensegrity Models and Shape Control of Vehicle Formations

Preprint English OPEN
Nabet, Benjamin ; Leonard, Naomi Ehrich (2009)
  • Subject: Mathematics - Optimization and Control
    arxiv: Mathematics::Metric Geometry | Computer Science::Computational Geometry

Using dynamic models of tensegrity structures, we derive provable, distributed control laws for stabilizing and changing the shape of a formation of vehicles in the plane. Tensegrity models define the desired, controlled, multi-vehicle system dynamics, where each node i... View more
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