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A Framework for Maintaining Formations Based on Rigidity

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Date

2002

Authors

Eren, Tolga
Belhumeur, Peter N
Anderson, Brian
Morse, A. Stephen

Journal Title

Journal ISSN

Volume Title

Publisher

IFAC Secretariat

Access Statement

Research Projects

Organizational Units

Journal Issue

Abstract

In this paper, a framework for maintaining formations of large number of mobile autonomous vehicles based on rigidity is proposed. The aim of this paper is to explore strategies for maintaining formations with more limited communication/sensing requirements. An inductive construction method for provably rigid formations is proposed, and a method for optimum angle measures between vehicles is developed. The method scales with the number of vehicles and is flexible to support many rigid formation shapes.

Description

Keywords

Autonomous vehicles, Coordination, Geometric approaches, Graph Theory, Graphs

Citation

URI

https://hdl.handle.net/1885/733801202

Collections

ANU Research Publications

Source

Type

Conference paper

Book Title

Proc. 15th IFAC World Congress on Automatic Control

Entity type

Publication

Access Statement

License Rights

DOI

10.3182/20020721-6-es-1901.01308

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