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Information Structures to Secure Control of Rigid Formations with Leader-Follower Architecture

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


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...[Show more]

CollectionsANU Research Publications
Date published: 2005
Type: Conference paper
Source: Proceedings of the 2005 American Control Conference


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