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Information Structures to Control Formation Splitting and Merging

dc.contributor.authorEren, Tolga
dc.contributor.authorAnderson, Brian
dc.contributor.authorMorse, A Stephen
dc.contributor.authorWhiteley, Walter
dc.contributor.authorBelhumeur, Peter N
dc.coverage.spatialBoston USA 30 2004
dc.description.abstractThis 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.
dc.publisherAmerican Automatic Control Council
dc.relation.ispartofseriesAmerican Control Conference 2004
dc.source2004 American Control Conference Proceedings
dc.subjectKeywords: Control formation; Information structures; Splitting; Control system analysis; Electric network topology; Intelligent agents; Problem solving; Telecommunication links; Telecommunication systems; Merging
dc.titleInformation Structures to Control Formation Splitting and Merging
dc.typeConference paper
local.contributor.affiliationEren, Tolga, Columbia University
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.contributor.affiliationMorse, A Stephen, Yale University
local.contributor.affiliationWhiteley, Walter, York University
local.contributor.affiliationBelhumeur, Peter N, Columbia University
local.contributor.authoruidAnderson, Brian, u8104642
local.description.notesImported from ARIES
local.identifier.absfor080503 - Networking and Communications
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.type.statusPublished Version