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%	ASSIGNMENT INFORMATION
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\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

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\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}
