Journal ArticleDOI
Rigid graph control architectures for autonomous formations
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In this paper, a theory for analyzing and creating architectures appropriate to the control of formations of autonomous vehicles is presented. The theory is based on ideas of rigid graph theory, some but not all of which are old.Abstract:
This article sets out the rudiments of a theory for analyzing and creating architectures appropriate to the control of formations of autonomous vehicles. The theory rests on ideas of rigid graph theory, some but not all of which are old. The theory, however, has some gaps in it, and their elimination would help in applications. Some of the gaps in the relevant graph theory are as follows. First, there is as yet no analogue for three-dimensional graphs of Laman's theorem, which provides a combinatorial criterion for rigidity in two-dimensional graphs. Second, for three-dimensional graphs there is no analogue of the two-dimensional Henneberg construction for growing or deconstructing minimally rigid graphs although there are conjectures. Third, global rigidity can easily be characterized for two-dimensional graphs, but not for three-dimensional graphs.read more
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Dissertation
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References
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Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
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Modeling and control of formations of nonholonomic mobile robots
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Journal ArticleDOI
On graphs and rigidity of plane skeletal structures
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Journal ArticleDOI
A vision-based formation control framework
TL;DR: In this article, the authors describe a framework for cooperative control of a group of nonholonomic mobile robots that allows them to build complex systems from simple controllers and estimators, and guarantee stability and convergence in a wide range of tasks.