Rigid Formations with Leader-Follower Architecture
Tolga Eren; Walter Whiteley; Peter N. Belhumeur
- Rigid Formations with Leader-Follower Architecture
Belhumeur, Peter N.
- Technical reports
- Computer Science
- Permanent URL:
- Columbia University Computer Science Technical Reports
- Part Number:
- Department of Computer Science, Columbia University
- Publisher Location:
- New York
- This paper is concerned with information structures used in rigid formations of autonomous agents that have leader-follower architecture. The focus of this paper is on sensor/network topologies to secure control of rigidity. We extend our previous approach for formations with symmetric neighbor relations to include formations with leader-follower architecture. Necessary and sufficient conditions for stably rigid directed formations are given including both cyclic and acyclic directed formations. Some useful steps for creating topologies of directed rigid formations are developed. An algorithm to determine the directions of links to create stably rigid directed formations from rigid undirected formations is presented. It is shown that k-cycles (k > 2) do not cause inconsistencies when measurements are noisy, while 2-cycles do. Simulation results are presented for (i) a rigid acyclic formation, (i) a flexible formation, and (iii) a rigid formation with cycles.
- Computer science
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