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Persistence Acquisition and Maintenance for Autonomous Formations

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


Built upon a recently developed theoretical framework, we consider some practical issues raised in autonomous multi-agent formation control. We use the notions of rigidity and persistence to analyze the cohesiveness of the formation structure and maintenance of the constraints on each individual agent. We present basic properties of persistent formations and give an operational criterion to determine if a formation is persistent. Using the framework we develop, we seek to provide systematic...[Show more]

CollectionsANU Research Publications
Date published: 2005
Type: Conference paper
Source: Proceedings of the 2005 Intelligent Sensors, Sensor Networks and Information Processing Conference


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