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Morse Theory and Formation Control

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dc.contributor.authorAnderson, Brian
dc.coverage.spatialCorfu Greece
dc.date.accessioned2015-12-10T23:07:55Z
dc.date.createdJune 20-23 2011
dc.date.issued2011
dc.date.updated2016-02-24T11:02:56Z
dc.description.abstractFormation shape control for a collection of point agents is concerned with devising decentralized control laws which will ensure that the formation will move so that certain inter-agent distances assume prescribed values. A number of algorithms based on steepest descent of an error function have been suggested for various problems, and all display the existence of incorrect equilibria, though often the equilibria are saddle points or unstable. This paper introduces Morse theory as a tool for analyzing the number of such equilibria. A key conclusion is that for two-dimensional rigid formations of point agents, there will always be incorrect equilibria associated with any steepest descent law.
dc.identifier.urihttp://hdl.handle.net/1885/63072
dc.publisherIEEE Control Systems Society
dc.relation.ispartofseriesMediterranean Conference on Control and Automation 2011
dc.sourceMorse Theory and Formation Control
dc.source.urihttp://www.med2011.org/index.php?option=com_content&view=article&id=46&Itemid=28
dc.subjectKeywords: autonomous formations; Decentralized control law; Error function; Formation control; Morse the-ory; Rigid formations; Saddle point; Shape control; Steepest descent; Autonomous agents; Topology; Decentralized control autonomous formations; Formation control; Morse Theory; shape control
dc.titleMorse Theory and Formation Control
dc.typeConference paper
local.bibliographicCitation.lastpage661
local.bibliographicCitation.startpage656
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.contributor.authoruidAnderson, Brian, u8104642
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.absseo810104 - Emerging Defence Technologies
local.identifier.ariespublicationu4334215xPUB766
local.identifier.doi10.1109/MED.2011.5983133
local.identifier.scopusID2-s2.0-80052349643
local.type.statusPublished Version

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