Merging Multiple Formations: A Meta-Formation Prospective
Date
2006
Authors
Yu, Changbin (Brad)
Fidan, Baris
Hendrickx, Julien M
Anderson, Brian
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
This paper considers the problem of merging of more than two (minimally) rigid formations which do not have any common agent to obtain a single (minimally) rigid formation in R2 and R3. Following previously developed strategies for sequential merging of two rigid formations, a new set of enhanced merging operations is developed. They can be performed in a formalized meta-formation framework, where the individual rigid formations are considered as metavertices and they can be merged into a meta-formation. These operations for growing meta-formations offer a level of control to the merging quality and optimality, in the sense of minimizing the number of meta-edges (that is, edges between different meta-vertices) required. It is also proved that all minimally rigid meta-formations in R2 can be obtained by successively merging two or more meta-vertices using the proposed set of meta-operations.
Description
Keywords
Keywords: Edge detection; Metadata; Optimal control systems; Metavertices; Multiple formations; Problem solving
Citation
Collections
Source
Proceedings of the 45th IEEE Conference on Decision and Control
Type
Conference paper