Title:

Information Structures to Secure Control of Rigid Formations with Leader-Follower Structure

Author(s):

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

Date:

2004

Type:

Technical reports

Department:

Computer Science

Permanent URL:

http://hdl.handle.net/10022/AC:P:29236

Series:

Columbia University Computer Science Technical Reports

Part Number:

CUCS-034-04

Publisher:

Department of Computer Science, Columbia University

Publisher Location:

New York

Abstract:

This paper is concerned with rigid formations of mobile autonomous agents using a leader-follower structure. A formation is a group of agents moving in real 2- or 3- dimensional space. A formation is called rigid if the distance between each pair of agents does not change over time under ideal conditions. Sensing/communication links between agents are used to maintain a rigid formation. Two agents connected by a sensing/communication link are called neighbors. There are two types of neighbor relations in rigid formations. In the first type, the neighbor relation is symmetric. In the second type, the neighbor relation is asymmetric. Rigid formations with a leader-follower structure have the asymmetric neighbor relation. A framework to analyze rigid formations with symmetric neighbor relations is given in our previous work. This paper suggests an approach to analyze rigid formations that have a leader-follower structure.

Subject(s):

Computer science

Item views:

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