Distributed formation maneuver control by manipulating the complex Laplacian

TL;DR

This paper introduces a new maneuvering method for formation control using the complex Laplacian, enabling collective motions like rotation, translation, and scaling by modifying Laplacian weights, with proven convergence and simulation validation.

Contribution

It presents a novel weight modification technique for the complex Laplacian that induces desired collective motions while maintaining formation shape, enhancing formation control capabilities.

Findings

The method guarantees global convergence to the desired shape and motion.

Simulations demonstrate effective maneuvering compared to existing techniques.

The approach allows for controlled rotations, translations, and scalings of formations.

Abstract

This paper proposes a novel maneuvering technique for the complex-Laplacian-based formation control. We show how to modify the original weights that build the Laplacian such that a designed steady-state motion of the desired shape emerges from the local interactions among the agents. These collective motions can be exploited to solve problems such as the shaped consensus (the rendezvous with a particular shape), the enclosing of a target, or translations with controlled speed and heading to assist mobile robots in area coverage, escorting, and traveling missions, respectively. The designed steady-state collective motions correspond to rotations around the centroid, translations, and scalings of a reference shape. The proposed modification of the weights relocates one of the Laplacian's zero eigenvalues while preserving its associated eigenvector that constructs the desired shape. For example, such relocation on the imaginary or real axis induces rotational and scaling motions, respectively. We will show how to satisfy a sufficient condition to guarantee the global convergence to the desired shape and motions. Finally, we provide simulations and comparisons with other maneuvering techniques.