commit fbf55e39a033b4f447ace3ac48b9a8e579174bee Author: a2nr Date: Mon Jun 17 13:13:49 2019 +0700 Init Doc diff --git a/DOC/RP_2015_Rozenheck.pdf b/DOC/RP_2015_Rozenheck.pdf new file mode 100644 index 0000000..ed543ef Binary files /dev/null and b/DOC/RP_2015_Rozenheck.pdf differ diff --git a/DOC/_[2015][Rozenheck][A PI Controler Distance-based Formation Tracking].pdf b/DOC/_[2015][Rozenheck][A PI Controler Distance-based Formation Tracking].pdf new file mode 100644 index 0000000..d5efc36 Binary files /dev/null and b/DOC/_[2015][Rozenheck][A PI Controler Distance-based Formation Tracking].pdf differ diff --git a/SOURCE/RP_2015_Rozenheck.tex b/SOURCE/RP_2015_Rozenheck.tex new file mode 100644 index 0000000..79aaf1e --- /dev/null +++ b/SOURCE/RP_2015_Rozenheck.tex @@ -0,0 +1,79 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% Lachaise Assignment +% LaTeX Template +% Version 1.0 (26/6/2018) +% +% This template originates from: +% http://www.LaTeXTemplates.com +% +% Authors: +% Marion Lachaise & François Févotte +% Vel (vel@LaTeXTemplates.com) +% +% License: +% CC BY-NC-SA 3.0 (http://creativecommons.org/licenses/by-nc-sa/3.0/) +% +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%---------------------------------------------------------------------------------------- +% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS +%---------------------------------------------------------------------------------------- + +\documentclass{article} + +\input{structure.tex} % Include the file specifying the document structure and custom commands +%% \usepackage[backend=biber]{biblatex}} + %% \addbibresource{ref.bib} + +%---------------------------------------------------------------------------------------- +% ASSIGNMENT INFORMATION +%---------------------------------------------------------------------------------------- + +\title{Controlling a Triangular Formation of Mobile Agent} % Title of the assignment + +\author{Anggoro Dwi Nur Rohman\\ \texttt{anggoro\_dwi@student.ub.ac.id}} % Author name and email address + +\date{Universitas Brawijaya--- \today} % University, school and/or department name(s) and a date + +%---------------------------------------------------------------------------------------- + +\begin{document} + +\maketitle % Print the title + +\section*{Pendahuluan} +Akan dirangkum dari penelitian + +\section{Formasi Segitiga} + +Robot ditandai dengan 1,2,3. Apabila robot 1 mengikuti robot 2 maka dinotasikan dengan $[1] = 2$. jarak antara $i$ dan $[i]$ dinotasikan $d_i$. + +Koordinat vector dari agent $i$ dinotasikan dengan $x_i$ terhadap global koordinat yang fiks, dan $y_{ij}$ adalah posisi robot $j$ terhadap sistem koordinat dari $i$ yang telah tentukan. Apabila $R_i$ dan $\tau_i$ adalah matriks rotasi dan vector translasi maka $y_{ij} = R_ix_j + \tau_i, j \in \{1,2,3\}$. Penelitian ini menggunakan kinematik yang sedarhana +\begin{eqnarray*} + \dot{y}_{ii} &=& u_i \quad i \in \{1,2,3\} \\ + \dot{x}_{i} &=& R_i^{-1} u_i +\end{eqnarray*} + +\section*{Referensi} +%% \printbibliography + +%% \begin{refsection} +%% @INPROCEEDINGS{Cao2007, +%% author={M. {Cao} and A. S. {Morse} and C. {Yu} and B. D. O. {Anderson} and S. {Dasguvta}}, +%% booktitle={2007 46th IEEE Conference on Decision and Control}, +%% title={Controlling a triangular formation of mobile autonomous agents}, +%% year={2007}, +%% volume={}, +%% number={}, +%% pages={3603-3608}, +%% abstract={This paper proposes a distributed control law for maintaining a triangular formation in the plane consisting of three mobile autonomous agents. It is shown that the control law can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} triangular formation to converge exponentially fast to a desired positively-oriented {resp. negatively- oriented} triangular formation. It is also shown that there is a thin set of initially collinear formations which remain collinear and may drift off to infinity as t rarr infin. These findings complement and extend earlier findings cited below.}, +%% keywords={distributed control;mobile robots;multi-robot systems;spatial variables control;triangular formation;mobile autonomous agents;collinear formations;distributed control law;Autonomous agents;USA Councils;Distributed control;H infinity control;Differential equations;Information technology;Art;Australia Council}, +%% doi={10.1109/CDC.2007.4434757}, +%% ISSN={0191-2216}, +%% month={Dec},} +%% \end{refsection} + + + + +\end{document} diff --git a/SOURCE/make.run b/SOURCE/make.run new file mode 100644 index 0000000..6885ad8 --- /dev/null +++ b/SOURCE/make.run @@ -0,0 +1 @@ +latexmk -pdf -outdir=../DOC/ RP_2015_Rozenheck.tex && latexmk -pdf -outdir=../DOC/ -c RP_2015_Rozenheck.tex diff --git a/SOURCE/structure.tex b/SOURCE/structure.tex new file mode 100644 index 0000000..3382534 --- /dev/null +++ b/SOURCE/structure.tex @@ -0,0 +1,228 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% Lachaise Assignment +% Structure Specification File +% Version 1.0 (26/6/2018) +% +% This template originates from: +% http://www.LaTeXTemplates.com +% +% Authors: +% Marion Lachaise & François Févotte +% Vel (vel@LaTeXTemplates.com) +% +% License: +% CC BY-NC-SA 3.0 (http://creativecommons.org/licenses/by-nc-sa/3.0/) +% +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%---------------------------------------------------------------------------------------- +% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS +%---------------------------------------------------------------------------------------- + +\usepackage{amsmath,amsfonts,stmaryrd,amssymb} % Math packages + +\usepackage{enumerate} % Custom item numbers for enumerations + +\usepackage[ruled]{algorithm2e} % Algorithms + +\usepackage[framemethod=tikz]{mdframed} % Allows defining custom boxed/framed environments + +\usepackage{listings} % File listings, with syntax highlighting +\lstset{ + basicstyle=\ttfamily, % Typeset listings in monospace font +} +% angwashere +\renewcommand{\figurename}{Gambar.} +%---------------------------------------------------------------------------------------- +% DOCUMENT MARGINS +%---------------------------------------------------------------------------------------- + +\usepackage{geometry} % Required for adjusting page dimensions and margins + +\geometry{ + paper=a4paper, % Paper size, change to letterpaper for US letter size + top=2.5cm, % Top margin + bottom=3cm, % Bottom margin + left=2.5cm, % Left margin + right=2.5cm, % Right margin + headheight=14pt, % Header height + footskip=1.5cm, % Space from the bottom margin to the baseline of the footer + headsep=1.2cm, % Space from the top margin to the baseline of the header + %showframe, % Uncomment to show how the type block is set on the page +} + +%---------------------------------------------------------------------------------------- +% FONTS +%---------------------------------------------------------------------------------------- + +\usepackage[utf8]{inputenc} % Required for inputting international characters +\usepackage[T1]{fontenc} % Output font encoding for international characters + +\usepackage{XCharter} % Use the XCharter fonts + +%---------------------------------------------------------------------------------------- +% COMMAND LINE ENVIRONMENT +%---------------------------------------------------------------------------------------- + +% Usage: +% \begin{commandline} +% \begin{verbatim} +% $ ls +% +% Applications Desktop ... +% \end{verbatim} +% \end{commandline} + +\mdfdefinestyle{commandline}{ + leftmargin=10pt, + rightmargin=10pt, + innerleftmargin=15pt, + middlelinecolor=black!50!white, + middlelinewidth=2pt, + frametitlerule=false, + backgroundcolor=black!5!white, + frametitle={Command Line}, + frametitlefont={\normalfont\sffamily\color{white}\hspace{-1em}}, + frametitlebackgroundcolor=black!50!white, + nobreak, +} + +% Define a custom environment for command-line snapshots +\newenvironment{commandline}{ + \medskip + \begin{mdframed}[style=commandline] +}{ + \end{mdframed} + \medskip +} + +%---------------------------------------------------------------------------------------- +% FILE CONTENTS ENVIRONMENT +%---------------------------------------------------------------------------------------- + +% Usage: +% \begin{file}[optional filename, defaults to "File"] +% File contents, for example, with a listings environment +% \end{file} + +\mdfdefinestyle{file}{ + innertopmargin=1.6\baselineskip, + innerbottommargin=0.8\baselineskip, + topline=false, bottomline=false, + leftline=false, rightline=false, + leftmargin=2cm, + rightmargin=2cm, + singleextra={% + \draw[fill=black!10!white](P)++(0,-1.2em)rectangle(P-|O); + \node[anchor=north west] + at(P-|O){\ttfamily\mdfilename}; + % + \def\l{3em} + \draw(O-|P)++(-\l,0)--++(\l,\l)--(P)--(P-|O)--(O)--cycle; + \draw(O-|P)++(-\l,0)--++(0,\l)--++(\l,0); + }, + nobreak, +} + +% Define a custom environment for file contents +\newenvironment{file}[1][File]{ % Set the default filename to "File" + \medskip + \newcommand{\mdfilename}{#1} + \begin{mdframed}[style=file] +}{ + \end{mdframed} + \medskip +} + +%---------------------------------------------------------------------------------------- +% NUMBERED QUESTIONS ENVIRONMENT +%---------------------------------------------------------------------------------------- + +% Usage: +% \begin{question}[optional title] +% Question contents +% \end{question} + +\mdfdefinestyle{question}{ + innertopmargin=1.2\baselineskip, + innerbottommargin=0.8\baselineskip, + roundcorner=5pt, + nobreak, + singleextra={% + \draw(P-|O)node[xshift=1em,anchor=west,fill=white,draw,rounded corners=5pt]{% + Question \theQuestion\questionTitle}; + }, +} + +\newcounter{Question} % Stores the current question number that gets iterated with each new question + +% Define a custom environment for numbered questions +\newenvironment{question}[1][\unskip]{ + \bigskip + \stepcounter{Question} + \newcommand{\questionTitle}{~#1} + \begin{mdframed}[style=question] +}{ + \end{mdframed} + \medskip +} + +%---------------------------------------------------------------------------------------- +% WARNING TEXT ENVIRONMENT +%---------------------------------------------------------------------------------------- + +% Usage: +% \begin{warn}[optional title, defaults to "Warning:"] +% Contents +% \end{warn} + +\mdfdefinestyle{warning}{ + topline=false, bottomline=false, + leftline=false, rightline=false, + nobreak, + singleextra={% + \draw(P-|O)++(-0.5em,0)node(tmp1){}; + \draw(P-|O)++(0.5em,0)node(tmp2){}; + \fill[black,rotate around={45:(P-|O)}](tmp1)rectangle(tmp2); + \node at(P-|O){\color{white}\scriptsize\bf !}; + \draw[very thick](P-|O)++(0,-1em)--(O);%--(O-|P); + } +} + +% Define a custom environment for warning text +\newenvironment{warn}[1][Warning:]{ % Set the default warning to "Warning:" + \medskip + \begin{mdframed}[style=warning] + \noindent{\textbf{#1}} +}{ + \end{mdframed} +} + +%---------------------------------------------------------------------------------------- +% INFORMATION ENVIRONMENT +%---------------------------------------------------------------------------------------- + +% Usage: +% \begin{info}[optional title, defaults to "Info:"] +% contents +% \end{info} + +\mdfdefinestyle{info}{% + topline=false, bottomline=false, + leftline=false, rightline=false, + nobreak, + singleextra={% + \fill[black](P-|O)circle[radius=0.4em]; + \node at(P-|O){\color{white}\scriptsize\bf i}; + \draw[very thick](P-|O)++(0,-0.8em)--(O);%--(O-|P); + } +} + +% Define a custom environment for information +\newenvironment{info}[1][Info:]{ % Set the default title to "Info:" + \medskip + \begin{mdframed}[style=info] + \noindent{\textbf{#1}} +}{ + \end{mdframed} +}