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

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

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:
Type:
Technical reports
Department:
Computer Science
Permanent URL:
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
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Metadata:
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