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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% Lachaise Assignment
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% LaTeX Template
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% Version 1.0 (26/6/2018)
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%
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% This template originates from:
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% http://www.LaTeXTemplates.com
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%
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% Authors:
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% Marion Lachaise & François Févotte
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% Vel (vel@LaTeXTemplates.com)
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%
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% License:
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% CC BY-NC-SA 3.0 (http://creativecommons.org/licenses/by-nc-sa/3.0/)
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%
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%----------------------------------------------------------------------------------------
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% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
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%----------------------------------------------------------------------------------------
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\documentclass{article}
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\input{structure.tex} % Include the file specifying the document structure and custom commands
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%% \usepackage[backend=biber]{biblatex}}
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%% \addbibresource{ref.bib}
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%----------------------------------------------------------------------------------------
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% ASSIGNMENT INFORMATION
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%----------------------------------------------------------------------------------------
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\title{Controlling a Triangular Formation of Mobile Agent} % Title of the assignment
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\author{Anggoro Dwi Nur Rohman\\ \texttt{anggoro\_dwi@student.ub.ac.id}} % Author name and email address
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\date{Universitas Brawijaya--- \today} % University, school and/or department name(s) and a date
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%----------------------------------------------------------------------------------------
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\begin{document}
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\maketitle % Print the title
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\section*{Pendahuluan}
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Akan dirangkum dari penelitian
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\section{Formasi Segitiga}
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Robot ditandai dengan 1,2,3. Apabila robot 1 mengikuti robot 2 maka dinotasikan dengan $[1] = 2$. jarak antara $i$ dan $[i]$ dinotasikan $d_i$.
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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
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\begin{eqnarray*}
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\dot{y}_{ii} &=& u_i \quad i \in \{1,2,3\} \\
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\dot{x}_{i} &=& R_i^{-1} u_i
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\end{eqnarray*}
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\section*{Referensi}
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%% \printbibliography
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%% \begin{refsection}
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%% @INPROCEEDINGS{Cao2007,
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%% author={M. {Cao} and A. S. {Morse} and C. {Yu} and B. D. O. {Anderson} and S. {Dasguvta}},
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%% booktitle={2007 46th IEEE Conference on Decision and Control},
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%% title={Controlling a triangular formation of mobile autonomous agents},
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%% year={2007},
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%% volume={},
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%% number={},
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%% pages={3603-3608},
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%% 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.},
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%% 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},
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%% doi={10.1109/CDC.2007.4434757},
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%% ISSN={0191-2216},
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%% month={Dec},}
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%% \end{refsection}
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\end{document}
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latexmk -pdf -outdir=../DOC/ RP_2015_Rozenheck.tex && latexmk -pdf -outdir=../DOC/ -c RP_2015_Rozenheck.tex
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% Lachaise Assignment
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% Structure Specification File
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% Version 1.0 (26/6/2018)
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%
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% This template originates from:
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% http://www.LaTeXTemplates.com
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%
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% Authors:
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% Marion Lachaise & François Févotte
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% Vel (vel@LaTeXTemplates.com)
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%
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% License:
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% CC BY-NC-SA 3.0 (http://creativecommons.org/licenses/by-nc-sa/3.0/)
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%
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%----------------------------------------------------------------------------------------
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% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
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%----------------------------------------------------------------------------------------
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\usepackage{amsmath,amsfonts,stmaryrd,amssymb} % Math packages
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\usepackage{enumerate} % Custom item numbers for enumerations
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\usepackage[ruled]{algorithm2e} % Algorithms
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\usepackage[framemethod=tikz]{mdframed} % Allows defining custom boxed/framed environments
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\usepackage{listings} % File listings, with syntax highlighting
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\lstset{
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basicstyle=\ttfamily, % Typeset listings in monospace font
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}
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% angwashere
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\renewcommand{\figurename}{Gambar.}
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%----------------------------------------------------------------------------------------
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% DOCUMENT MARGINS
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%----------------------------------------------------------------------------------------
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\usepackage{geometry} % Required for adjusting page dimensions and margins
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\geometry{
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paper=a4paper, % Paper size, change to letterpaper for US letter size
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top=2.5cm, % Top margin
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bottom=3cm, % Bottom margin
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left=2.5cm, % Left margin
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right=2.5cm, % Right margin
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headheight=14pt, % Header height
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footskip=1.5cm, % Space from the bottom margin to the baseline of the footer
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headsep=1.2cm, % Space from the top margin to the baseline of the header
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%showframe, % Uncomment to show how the type block is set on the page
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}
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%----------------------------------------------------------------------------------------
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% FONTS
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%----------------------------------------------------------------------------------------
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\usepackage[utf8]{inputenc} % Required for inputting international characters
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\usepackage[T1]{fontenc} % Output font encoding for international characters
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\usepackage{XCharter} % Use the XCharter fonts
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%----------------------------------------------------------------------------------------
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% COMMAND LINE ENVIRONMENT
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%----------------------------------------------------------------------------------------
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% Usage:
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% \begin{commandline}
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% \begin{verbatim}
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% $ ls
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%
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% Applications Desktop ...
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% \end{verbatim}
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% \end{commandline}
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\mdfdefinestyle{commandline}{
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leftmargin=10pt,
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rightmargin=10pt,
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innerleftmargin=15pt,
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middlelinecolor=black!50!white,
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middlelinewidth=2pt,
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frametitlerule=false,
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backgroundcolor=black!5!white,
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frametitle={Command Line},
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frametitlefont={\normalfont\sffamily\color{white}\hspace{-1em}},
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frametitlebackgroundcolor=black!50!white,
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nobreak,
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}
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% Define a custom environment for command-line snapshots
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\newenvironment{commandline}{
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\medskip
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\begin{mdframed}[style=commandline]
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}{
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\end{mdframed}
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\medskip
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}
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%----------------------------------------------------------------------------------------
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% FILE CONTENTS ENVIRONMENT
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%----------------------------------------------------------------------------------------
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% Usage:
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% \begin{file}[optional filename, defaults to "File"]
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% File contents, for example, with a listings environment
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% \end{file}
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\mdfdefinestyle{file}{
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innertopmargin=1.6\baselineskip,
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innerbottommargin=0.8\baselineskip,
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topline=false, bottomline=false,
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leftline=false, rightline=false,
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leftmargin=2cm,
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rightmargin=2cm,
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singleextra={%
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\draw[fill=black!10!white](P)++(0,-1.2em)rectangle(P-|O);
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\node[anchor=north west]
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at(P-|O){\ttfamily\mdfilename};
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%
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\def\l{3em}
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\draw(O-|P)++(-\l,0)--++(\l,\l)--(P)--(P-|O)--(O)--cycle;
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\draw(O-|P)++(-\l,0)--++(0,\l)--++(\l,0);
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},
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nobreak,
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}
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% Define a custom environment for file contents
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\newenvironment{file}[1][File]{ % Set the default filename to "File"
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\medskip
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\newcommand{\mdfilename}{#1}
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\begin{mdframed}[style=file]
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}{
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\end{mdframed}
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\medskip
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}
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%----------------------------------------------------------------------------------------
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% NUMBERED QUESTIONS ENVIRONMENT
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%----------------------------------------------------------------------------------------
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% Usage:
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% \begin{question}[optional title]
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% Question contents
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% \end{question}
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\mdfdefinestyle{question}{
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innertopmargin=1.2\baselineskip,
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innerbottommargin=0.8\baselineskip,
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roundcorner=5pt,
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nobreak,
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singleextra={%
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\draw(P-|O)node[xshift=1em,anchor=west,fill=white,draw,rounded corners=5pt]{%
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Question \theQuestion\questionTitle};
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},
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}
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\newcounter{Question} % Stores the current question number that gets iterated with each new question
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% Define a custom environment for numbered questions
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\newenvironment{question}[1][\unskip]{
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\bigskip
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\stepcounter{Question}
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\newcommand{\questionTitle}{~#1}
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\begin{mdframed}[style=question]
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}{
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\end{mdframed}
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\medskip
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}
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%----------------------------------------------------------------------------------------
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% WARNING TEXT ENVIRONMENT
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%----------------------------------------------------------------------------------------
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% Usage:
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% \begin{warn}[optional title, defaults to "Warning:"]
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% Contents
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% \end{warn}
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\mdfdefinestyle{warning}{
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topline=false, bottomline=false,
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leftline=false, rightline=false,
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nobreak,
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singleextra={%
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\draw(P-|O)++(-0.5em,0)node(tmp1){};
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\draw(P-|O)++(0.5em,0)node(tmp2){};
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\fill[black,rotate around={45:(P-|O)}](tmp1)rectangle(tmp2);
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\node at(P-|O){\color{white}\scriptsize\bf !};
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\draw[very thick](P-|O)++(0,-1em)--(O);%--(O-|P);
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}
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}
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% Define a custom environment for warning text
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\newenvironment{warn}[1][Warning:]{ % Set the default warning to "Warning:"
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\medskip
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\begin{mdframed}[style=warning]
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\noindent{\textbf{#1}}
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}{
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\end{mdframed}
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}
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%----------------------------------------------------------------------------------------
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% INFORMATION ENVIRONMENT
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%----------------------------------------------------------------------------------------
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% Usage:
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% \begin{info}[optional title, defaults to "Info:"]
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% contents
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% \end{info}
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\mdfdefinestyle{info}{%
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topline=false, bottomline=false,
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leftline=false, rightline=false,
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nobreak,
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singleextra={%
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\fill[black](P-|O)circle[radius=0.4em];
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\node at(P-|O){\color{white}\scriptsize\bf i};
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\draw[very thick](P-|O)++(0,-0.8em)--(O);%--(O-|P);
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}
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}
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% Define a custom environment for information
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\newenvironment{info}[1][Info:]{ % Set the default title to "Info:"
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\medskip
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\begin{mdframed}[style=info]
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\noindent{\textbf{#1}}
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}{
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\end{mdframed}
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}
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