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Information Structures to Control Formation Splitting and Merging

Eren, Tolga; Anderson, Brian; Morse, A Stephen; Whiteley, Walter; Belhumeur, Peter N


This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to achieve rigid formations of mobile autonomous agents for cooperative tasks. These strategies ensure minimum number of changes in the set of sensing and communication links between agents during splitting and merging operations. That is, in splitting, all the links between agents in the same post-split sub-formation are preserved and a minimum number of links are...[Show more]

CollectionsANU Research Publications
Date published: 2004
Type: Conference paper
Source: 2004 American Control Conference Proceedings


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