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

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dc.contributor.authorEren, Tolga
dc.contributor.authorWhiteley, Walter
dc.contributor.authorAnderson, Brian
dc.contributor.authorMorse, A Stephen
dc.contributor.authorBelhumeur, Peter N
dc.coverage.spatialPortland USA
dc.date.accessioned2015-12-13T23:01:02Z
dc.date.available2015-12-13T23:01:02Z
dc.date.createdJune 8 2005
dc.date.issued2005
dc.date.updated2015-12-12T07:37:21Z
dc.description.abstractThis 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.
dc.identifier.isbn0780390989
dc.identifier.urihttp://hdl.handle.net/1885/84405
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesAmerican Control Conference 2005
dc.sourceProceedings of the 2005 American Control Conference
dc.source.urihttp://www.ee.washington.edu/conf/acc2005/
dc.source.urihttp://ieeexplore.ieee.org/iel5/9861/31519/01470425.pdf?tp=&arnumber=1470425&isnumber=31519
dc.subjectKeywords: Information structure; Leader-follower architecture; Rigid formations; Stable rigidity; Algorithms; Autonomous agents; Computer simulation; Data structures; Formal logic; Computer architecture
dc.titleInformation Structures to Secure Control of Rigid Formations with Leader-Follower Architecture
dc.typeConference paper
local.bibliographicCitation.lastpage2971
local.bibliographicCitation.startpage2966
local.contributor.affiliationEren, Tolga, Columbia University
local.contributor.affiliationWhiteley, Walter, York University
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.contributor.affiliationMorse, A Stephen, Yale University
local.contributor.affiliationBelhumeur, Peter N, Columbia University
local.contributor.authoruidAnderson, Brian, u8104642
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.identifier.absfor080503 - Networking and Communications
local.identifier.ariespublicationMigratedxPub12677
local.identifier.scopusID2-s2.0-23944509116
local.type.statusPublished Version

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