Information structures to control formation splitting and merging

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

doi:10.23919/acc.2004.1384634

Information structures to control formation splitting and merging

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

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

13 Citations (Scopus)

Abstract

This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to achieve rigid formations of mobile autonomous agents for cooperative tasks. These strategies ensure minimum number of changes in the set of sensing and communication links between agents during splitting and merging operations. That is, in splitting, all the links between agents in the same post-split sub-formation are preserved and a minimum number of links are inserted into each post-split sub-formation to regain minimal rigidity. In merging, all the links in each pre-merged rigid sub-formation are preserved and a minimum number of links are inserted between sub-formations to create one single post-merged minimally rigid formation.

Original language	English
Pages (from-to)	4951-4956
Number of pages	6
Journal	Proceedings of the American Control Conference
Volume	6
DOIs	https://doi.org/10.23919/acc.2004.1384634
Publication status	Published - 2004
Event	Proceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States Duration: 30 Jun 2004 → 2 Jul 2004

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title = "Information structures to control formation splitting and merging",

abstract = "This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to achieve rigid formations of mobile autonomous agents for cooperative tasks. These strategies ensure minimum number of changes in the set of sensing and communication links between agents during splitting and merging operations. That is, in splitting, all the links between agents in the same post-split sub-formation are preserved and a minimum number of links are inserted into each post-split sub-formation to regain minimal rigidity. In merging, all the links in each pre-merged rigid sub-formation are preserved and a minimum number of links are inserted between sub-formations to create one single post-merged minimally rigid formation.",

author = "Tolga Eren and Anderson, {Brian D.O.} and Morse, {A. Stephen} and Walter Whiteley and Belhumeur, {Peter N.}",

year = "2004",

doi = "10.23919/acc.2004.1384634",

language = "English",

volume = "6",

pages = "4951--4956",

journal = "Proceedings of the American Control Conference",

issn = "0743-1619",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 2004 American Control Conference (AAC) ; Conference date: 30-06-2004 Through 02-07-2004",

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TY - JOUR

T1 - Information structures to control formation splitting and merging

AU - Eren, Tolga

AU - Anderson, Brian D.O.

AU - Morse, A. Stephen

AU - Whiteley, Walter

AU - Belhumeur, Peter N.

PY - 2004

Y1 - 2004

N2 - This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to achieve rigid formations of mobile autonomous agents for cooperative tasks. These strategies ensure minimum number of changes in the set of sensing and communication links between agents during splitting and merging operations. That is, in splitting, all the links between agents in the same post-split sub-formation are preserved and a minimum number of links are inserted into each post-split sub-formation to regain minimal rigidity. In merging, all the links in each pre-merged rigid sub-formation are preserved and a minimum number of links are inserted between sub-formations to create one single post-merged minimally rigid formation.

AB - This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to achieve rigid formations of mobile autonomous agents for cooperative tasks. These strategies ensure minimum number of changes in the set of sensing and communication links between agents during splitting and merging operations. That is, in splitting, all the links between agents in the same post-split sub-formation are preserved and a minimum number of links are inserted into each post-split sub-formation to regain minimal rigidity. In merging, all the links in each pre-merged rigid sub-formation are preserved and a minimum number of links are inserted between sub-formations to create one single post-merged minimally rigid formation.

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U2 - 10.23919/acc.2004.1384634

DO - 10.23919/acc.2004.1384634

M3 - Conference article

AN - SCOPUS:4544227534

SN - 0743-1619

VL - 6

SP - 4951

EP - 4956

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

T2 - Proceedings of the 2004 American Control Conference (AAC)

Y2 - 30 June 2004 through 2 July 2004

ER -

Information structures to control formation splitting and merging

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