Skip navigation
Skip navigation

Acquiring and maintaining persistence of autonomous multi-vehicle formation

Fidan, Baris; Yu, Changbin (Brad); Anderson, Brian

Description

A set of structural cohesiveness issues raised in control of autonomous multi-vehicle formations is analysed, using a recently developed theoretical framework of graph rigidity and persistence. The general characteristics of rigid and persistent formations and some operational criteria to check the rigidity and persistence of a given formation from the aspect of their use in cohesive motion of vehicle formations, including cohesive formation flight is reviewed. Employing these characteristics...[Show more]

dc.contributor.authorFidan, Baris
dc.contributor.authorYu, Changbin (Brad)
dc.contributor.authorAnderson, Brian
dc.date.accessioned2015-12-07T22:46:38Z
dc.identifier.issn1751-8644
dc.identifier.urihttp://hdl.handle.net/1885/25861
dc.description.abstractA set of structural cohesiveness issues raised in control of autonomous multi-vehicle formations is analysed, using a recently developed theoretical framework of graph rigidity and persistence. The general characteristics of rigid and persistent formations and some operational criteria to check the rigidity and persistence of a given formation from the aspect of their use in cohesive motion of vehicle formations, including cohesive formation flight is reviewed. Employing these characteristics and criteria, systematic procedures are provided for acquiring and maintaining the persistence of autonomous formations, which are often found in real-world applications. Although these procedures are provided for certain formation classes (in the case of acquisition) or for certain formation operations (in the case of maintenance), the methodology used to develop these procedures has the potential to generate similar procedures for persistence acquisition and maintenance for other formation classes and operations as well.
dc.publisherInstitute of Engineering and Technology
dc.sourceIET Control Theory and Applications
dc.subjectKeywords: Control theory; Graph theory; Motion planning; Multi agent systems; Real time control; Rigidity; Cohesive motion; Systematic procedures; Theoretical framework; Autonomous agents
dc.titleAcquiring and maintaining persistence of autonomous multi-vehicle formation
dc.typeJournal article
local.description.notesImported from ARIES
local.identifier.citationvolume1
dc.date.issued2007
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.identifier.absfor080503 - Networking and Communications
local.identifier.ariespublicationu3594520xPUB41
local.type.statusPublished Version
local.contributor.affiliationFidan, Baris, College of Engineering and Computer Science, ANU
local.contributor.affiliationYu, Changbin (Brad), College of Engineering and Computer Science, ANU
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.description.embargo2037-12-31
local.bibliographicCitation.issue2
local.bibliographicCitation.startpage452
local.bibliographicCitation.lastpage460
local.identifier.doi10.1049/iet-cta:20050409
dc.date.updated2015-12-07T11:43:53Z
local.identifier.scopusID2-s2.0-33847637084
CollectionsANU Research Publications

Download

File Description SizeFormat Image
01_Fidan_Acquiring_and_maintaining_2007.pdf265.41 kBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  22 January 2019/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator