报告名称：Angle-based rigid formation stabilization in the plane
报告概况：This talk introduces an angle-based approach for distributed formation shape stabilization in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between segments uniquely up to translations, rotations, scalings and reflections. The proposed angle rigidity theory is applied to the formation stabilization problem, where multiple single-integrator modeled agents cooperatively achieve an angle-constrained formation. During the formation process, the global coordinate system is unknown for each agent and wireless communications between agents are not required. Moreover, by utilizing the advantage of high degrees of freedom, we propose a distributed control law for agents to stabilize a desired formation shape with desired orientation and scale. Both the above-mentioned strategies can obtain local exponential convergence of angle errors. To avoid convergence of undesired equilibria, we also propose a decentralized controller based on an artificial potential function. This controller can preserve rigidity during the formation process, thus ensures almost global convergence to desired angle values. Several simulation examples are given for illustrating effectiveness of the proposed control strategies.
井冈山博士概况：Gangshan Jing received the B.S. degree in applied
mathematics from Ningxia University, Yinchuan, China, in 2012. He is currently pursuing the Ph.D. degree with Xidian University, Xi'an, China. He was a research assistant Department of Applied Mathematics, Hong Kong Polytechnic University, Hong Kong, from Dec. 2016- May. 2017, and Nov. 2017- Jan. 2018. His current research interests include rigid formation stabilization, opinion dynamics, and distributed optimization.