80 lines
3.5 KiB
TeX
80 lines
3.5 KiB
TeX
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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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