@inproceedings{682f4669c7a44f83a1fbd78c7fbf3b45,
title = "A Framework for Maintaining Formations Based on Rigidity",
abstract = "In this paper, a framework for maintaining formations of large number of mobile autonomous vehicles based on rigidity is proposed. The aim of this paper is to explore strategies for maintaining formations with more limited communication/sensing requirements. An inductive construction method for provably rigid formations is proposed, and a method for optimum angle measures between vehicles is developed. The method scales with the number of vehicles and is flexible to support many rigid formation shapes.",
keywords = "Autonomous vehicles, Coordination, Geometric approaches, Graph Theory, Graphs",
author = "Tolga Eren and Belhumeur, {Peter N} and Brian Anderson and Morse, {A. Stephen}",
note = "Publisher Copyright: Copyright {\textcopyright} 2002 IFAC.; 15th World Congress of the International Federation of Automatic Control, 2002 ; Conference date: 21-07-2002 Through 26-07-2002",
year = "2002",
doi = "10.3182/20020721-6-es-1901.01308",
language = "English",
isbn = "9783902661746",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "1",
pages = "499--504",
editor = "Gabriel Ferrate and Camacho, {Eduardo F.} and Luis Basanez and {de la Puente}, {Juan. A.}",
booktitle = "Proc. 15th IFAC World Congress on Automatic Control",
}