Information Structures to Secure Control of Rigid Formations with Leader-Follower Architecture
Date
2005
Authors
Eren, Tolga
Whiteley, Walter
Anderson, Brian
Morse, A Stephen
Belhumeur, Peter N
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
This paper is concerned with rigid formations of mobile autonomous agents that have leader-follower architecture. In a previous paper, Baillieul and Suri gave a proposition as a necessary condition for stable rigidity. They also gave a separate theorem as a sufficient condition for stable rigidity. This paper suggests an approach to analyze rigid formations that have leader-follower architecture. It proves that the third condition in the proposition given by Baillieul and Suri is redundant, and it proves that this proposition is a necessary and sufficient condition for stable rigidity. Simulation results are also presented to illustrate rigidity.
Description
Keywords
Keywords: Information structure; Leader-follower architecture; Rigid formations; Stable rigidity; Algorithms; Autonomous agents; Computer simulation; Data structures; Formal logic; Computer architecture
Citation
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Source
Proceedings of the 2005 American Control Conference
Type
Conference paper