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
- Information Structures to Secure Control of Rigid Formations with Leader-Follower Structure
Morse, A. Stephen
Anderson, Brian D. O.
Belhumeur, Peter N.
- Technical reports
- Computer Science
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- Columbia University Computer Science Technical Reports
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- Department of Computer Science, Columbia University
- Publisher Location:
- New York
- 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.
- Computer science
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