Rigid Graph Control Architectures for Autonomous Formations

Date

2008

Authors

Anderson, Brian
Yu, Changbin (Brad)
Fidan, Baris
Hendrickx, Julien M

Journal Title

Journal ISSN

Volume Title

Publisher

Institute of Electrical and Electronics Engineers (IEEE Inc)

Abstract

For millions of years, nature has presented examples of collective behavior in groups of insects, birds, and fish. This behavior has arisen to permit sophisticated functions of the group that cannot be achieved by individual members [1], [2]. Collective behavior serves needs such as foraging for food, defense against predators, aggression against prey, and mating. Fish and birds particularly, as part of their group behavior, often display formation- type behavior. In this type of behavior, the relative positions of the fish or birds are preserved, and the formation moves as a cohesive whole. From time to time, a formation may split, rearrange itself in a minor way, perhaps to remove a burden on one or more members of the formation, or rearrange itself in a major way, perhaps for obstacle avoidance, predator avoidance, or merging with another formation.

Description

Keywords

Keywords: Electric ship equipment; Graph theory; Topology; Collective behaviors; Control architectures; Group behaviors; Multiagent systems; Obstacle avoidances; Presented examples; Relative positions; Rigid graphs; Meats Graph theory; Multiagent systems

Citation

Source

IEEE Control Systems

Type

Journal article

Book Title

Entity type

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