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Information Structures to Secure Control of Globally Rigid Formations

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


Sensor and network topologies of rigid formations with distance information between mobile autonomous agents are considered. An approach based on rigidity for creating such topologies were suggested in our previous work. Here, we first illustrate some potential scenarios on formations that require unambiguity in the knowledge of distances between every pair of agents in a formation. Then, we show how a stronger type of rigidity, namely global rigidity, plays a role in creating such unambiguous...[Show more]

CollectionsANU Research Publications
Date published: 2004
Type: Conference paper
Source: 2004 American Control Conference Proceedings
DOI: 10.1109/ACC.2004.249097


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