2005 Reports

Merging Globally Rigid Formations of Mobile Autonomous Agents

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

This paper is concerned with merging globally rigid formations of mobile autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication networks as an integral part of coordination. Network topologies are critically important for autonomous systems involving mobile underwater, ground and air vehicles and for sensor networks. This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to merge globally rigid formations for cooperative tasks. Central to the development of these techniques and strategies will be the use of tools from rigidity theory, and graph theory.