Tensegrity Models and Shape Control of Vehicle Formations
Leonard, Naomi Ehrich
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...