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Information Structures to Control Formation Splitting and Merging

Date

2004

Authors

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

Journal Title

Journal ISSN

Volume Title

Publisher

American Automatic Control Council

Abstract

This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to achieve rigid formations of mobile autonomous agents for cooperative tasks. These strategies ensure minimum number of changes in the set of sensing and communication links between agents during splitting and merging operations. That is, in splitting, all the links between agents in the same post-split sub-formation are preserved and a minimum number of links are inserted into each post-split sub-formation to regain minimal rigidity. In merging, all the links in each pre-merged rigid sub-formation are preserved and a minimum number of links are inserted between sub-formations to create one single post-merged minimally rigid formation.

Description

Keywords

Keywords: Control formation; Information structures; Splitting; Control system analysis; Electric network topology; Intelligent agents; Problem solving; Telecommunication links; Telecommunication systems; Merging

Citation

Source

2004 American Control Conference Proceedings

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

DOI

Restricted until