Morse Theory and Formation Control
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Formation shape control for a collection of point agents is concerned with devising decentralized control laws which will ensure that the formation will move so that certain inter-agent distances assume prescribed values. A number of algorithms based on steepest descent of an error function have been suggested for various problems, and all display the existence of incorrect equilibria, though often the equilibria are saddle points or unstable. This paper introduces Morse theory as a tool for...[Show more]
dc.contributor.author | Anderson, Brian | |
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dc.coverage.spatial | Corfu Greece | |
dc.date.accessioned | 2015-12-10T23:07:55Z | |
dc.date.created | June 20-23 2011 | |
dc.identifier.uri | http://hdl.handle.net/1885/63072 | |
dc.description.abstract | Formation shape control for a collection of point agents is concerned with devising decentralized control laws which will ensure that the formation will move so that certain inter-agent distances assume prescribed values. A number of algorithms based on steepest descent of an error function have been suggested for various problems, and all display the existence of incorrect equilibria, though often the equilibria are saddle points or unstable. This paper introduces Morse theory as a tool for analyzing the number of such equilibria. A key conclusion is that for two-dimensional rigid formations of point agents, there will always be incorrect equilibria associated with any steepest descent law. | |
dc.publisher | IEEE Control Systems Society | |
dc.relation.ispartofseries | Mediterranean Conference on Control and Automation 2011 | |
dc.source | Morse Theory and Formation Control | |
dc.source.uri | http://www.med2011.org/index.php?option=com_content&view=article&id=46&Itemid=28 | |
dc.subject | Keywords: autonomous formations; Decentralized control law; Error function; Formation control; Morse the-ory; Rigid formations; Saddle point; Shape control; Steepest descent; Autonomous agents; Topology; Decentralized control autonomous formations; Formation control; Morse Theory; shape control | |
dc.title | Morse Theory and Formation Control | |
dc.type | Conference paper | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
dc.date.issued | 2011 | |
local.identifier.absfor | 090602 - Control Systems, Robotics and Automation | |
local.identifier.ariespublication | u4334215xPUB766 | |
local.type.status | Published Version | |
local.contributor.affiliation | Anderson, Brian, College of Engineering and Computer Science, ANU | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.startpage | 656 | |
local.bibliographicCitation.lastpage | 661 | |
local.identifier.doi | 10.1109/MED.2011.5983133 | |
local.identifier.absseo | 810104 - Emerging Defence Technologies | |
dc.date.updated | 2016-02-24T11:02:56Z | |
local.identifier.scopusID | 2-s2.0-80052349643 | |
Collections | ANU Research Publications |
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