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Information Structures to Secure Control of Globally Rigid Formations

Date

2004

Authors

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

Journal Title

Journal ISSN

Volume Title

Publisher

American Automatic Control Council

Abstract

Sensor and network topologies of rigid formations with distance information between mobile autonomous agents are considered. An approach based on rigidity for creating such topologies were suggested in our previous work. Here, we first illustrate some potential scenarios on formations that require unambiguity in the knowledge of distances between every pair of agents in a formation. Then, we show how a stronger type of rigidity, namely global rigidity, plays a role in creating such unambiguous formations. We draw out and summarize some relevant results from the related mathematical theory of global rigidity; and present some new results on globally rigid formations.

Description

Keywords

Keywords: Global rigidity; Information structures; Rigid formations; Electric network topology; Global optimization; Intelligent agents; Matrix algebra; Mobile telecommunication systems; Problem solving; Information analysis

Citation

Source

2004 American Control Conference Proceedings

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

DOI

10.1109/ACC.2004.249097

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