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Distributed structural stabilization and tracking for formations of dynamic multi-agents

Olfati-Saber, Reza and Murray, Richard M. (2002) Distributed structural stabilization and tracking for formations of dynamic multi-agents. In: Proceedings of the 41st IEEE Conference on Decision and Control, December 10-13, 2002, Las Vegas, Nevada, USA. Vol.1. IEEE , Los Alamitos, CA, pp. 209-215. ISBN 0-7803-7516-5.

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We provide a theoretical framework that consists of graph theoretical and Lyapunov-based approaches to stability analysis and distributed control of multi-agent formations. This framework relays on the notion of graph rigidity as a means of identifying the shape variables of a formation. Using this approach, we can formally define formations of multiple vehicles and three types of stabilization/tracking problems for dynamic multi-agent systems. We show how these three problems can be addressed mutually independent of each other for a formation of two agents. Then, we introduce a procedure called dynamic node augmentation that allows construction of a larger formation with more agents that can be rendered structurally stable in a distributed manner from some initial formation that is structurally stable. We provide two examples of formations that can be controlled using this approach, namely, the V-formation and the diamond formation.

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Murray, Richard M.0000-0002-5785-7481
Additional Information:© Copyright 2002 IEEE. Reprinted with permission. Posted online: 2003-03-10
Subject Keywords:Lyapunov-based approach; V-formation; diamond formation; distributed control; distributed parameter systems; distributed structural stabilization; dynamic multi-agents; dynamic node augmentation; graph theoretical approach; mobile robots; multi-agent formations; multi-vehicle systems; stability analysis; tracking
Record Number:CaltechAUTHORS:OLFcdc02a
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:5150
Deposited By: Archive Administrator
Deposited On:03 Oct 2006
Last Modified:02 Oct 2019 23:19

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