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A Framework for Maintaining Formations Based on Rigidity

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dc.contributor.authorEren, Tolgaen
dc.contributor.authorBelhumeur, Peter Nen
dc.contributor.authorAnderson, Brianen
dc.contributor.authorMorse, A. Stephenen
dc.coverage.spatialBarcelonaen
dc.date.accessioned2026-01-01T14:42:49Z
dc.date.available2026-01-01T14:42:49Z
dc.date.issued2002en
dc.description.abstractIn 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.en
dc.description.statusPeer-revieweden
dc.identifier.isbn9783902661746en
dc.identifier.issn1474-6670en
dc.identifier.otherORCID:/0000-0002-1493-4774/work/174739504en
dc.identifier.scopus84945548087en
dc.identifier.urihttps://hdl.handle.net/1885/733801202
dc.language.isoenen
dc.publisherIFAC Secretariaten
dc.relation.ispartofProc. 15th IFAC World Congress on Automatic Controlen
dc.relation.ispartofseries15th World Congress of the International Federation of Automatic Control, 2002en
dc.relation.ispartofseriesIFAC Proceedings Volumes (IFAC-PapersOnline)en
dc.rightsPublisher Copyright: Copyright © 2002 IFAC.en
dc.subjectAutonomous vehiclesen
dc.subjectCoordinationen
dc.subjectGeometric approachesen
dc.subjectGraph Theoryen
dc.subjectGraphsen
dc.titleA Framework for Maintaining Formations Based on Rigidityen
dc.typeConference paperen
dspace.entity.typePublicationen
local.bibliographicCitation.lastpage504en
local.bibliographicCitation.startpage499en
local.contributor.affiliationEren, Tolga; Yale Universityen
local.contributor.affiliationBelhumeur, Peter N; Columbia Universityen
local.contributor.affiliationAnderson, Brian; School of Engineering, ANU College of Systems and Society, The Australian National Universityen
local.contributor.affiliationMorse, A. Stephen; Yale Universityen
local.identifier.doi10.3182/20020721-6-es-1901.01308en
local.identifier.pure682f4669-c7a4-4f83-a1fb-d78c7fbf3b45en
local.identifier.urlhttps://www.scopus.com/pages/publications/84945548087en
local.type.statusPublisheden

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