Journal ArticleDOI
Rigid graph control architectures for autonomous formations
Reads0
Chats0
TLDR
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
Citations
More filters
Proceedings ArticleDOI
Distance-Based Formation Control of Nonlinear Agents Over Planar Directed Graphs
TL;DR: In this paper , a distance-based formation control of nonlinear agents on a plane is proposed based on state-dependent Riccati equation (SDRE) theory, which can effectively be applied to nonlinear systems.
Proceedings ArticleDOI
Distance-Based Formation Control of Nonlinear Agents Over Planar Directed Graphs
Reza Babazadeh,Rastko R. Selmic +1 more
TL;DR: In this paper , a distance-based formation control of nonlinear agents on a plane is proposed based on state-dependent Riccati equation (SDRE) theory, which can effectively be applied to nonlinear systems.
Posted Content
Velocity consensus and formation shape control using distance-only measurements.
TL;DR: This paper proposes a strategy to achieve velocity consensus and simultaneous formation shape control in a multiagent formation using distance-only measurements, and postulates that agents engage in a combination of circular motion and linear motion.
Journal ArticleDOI
Simultaneous localization and formation using angle-only measurements in 2D
TL;DR: In this paper , the authors solve the simultaneous localization and formation (SLAF) problem for a multi-agent system moving in 2D plane, which consists of leaders and followers who do not know their absolute positions but have angle-only measurements and communication with respect to their neighboring agents.
Proceedings ArticleDOI
A geometric path planning strategy based on variational calculus for the shape control of multi-agent Lagrangian systems
TL;DR: In this article, a path planning method for the optimal control of multiple Lagrangian systems on Lie groups is proposed, where necessary conditions for optimality are derived via the method of Lagrange multipliers and also allow the design of optimal trajectories.
References
More filters
Journal ArticleDOI
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
Journal ArticleDOI
Flocking for multi-agent dynamic systems: algorithms and theory
TL;DR: A theoretical framework for design and analysis of distributed flocking algorithms, and shows that migration of flocks can be performed using a peer-to-peer network of agents, i.e., "flocks need no leaders."
Journal ArticleDOI
Modeling and control of formations of nonholonomic mobile robots
TL;DR: This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory.
Journal ArticleDOI
On graphs and rigidity of plane skeletal structures
TL;DR: In this paper, the combinatorial properties of rigid plane skeletal structures are investigated, and the properties are found to be adequately described by a class of graph-structured graphs.
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.