Information structures to secure control of globally rigid formations

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

doi:10.1109/ACC.2004.249097

Information structures to secure control of globally rigid formations

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

Sensor and network topologies of rigid formations with distance information between mobile autonomous agents are considered. An approach based on rigidity for creating such topologies were suggested in our previous work. Here, we first illustrate some potential scenarios on formations that require unambiguity in the knowledge of distances between every pair of agents in a formation. Then, we show how a stronger type of rigidity, namely global rigidity, plays a role in creating such unambiguous formations. We draw out and summarize some relevant results from the related mathematical theory of global rigidity; and present some new results on globally rigid formations.

Original language	English
Title of host publication	Proceedings of the 2004 American Control Conference (AAC)
Pages	4945-4950
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2004.249097
Publication status	Published - 2004
Event	Proceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States Duration: 30 Jun 2004 → 2 Jul 2004

Publication series

Name	Proceedings of the American Control Conference
Volume	6
ISSN (Print)	0743-1619

Conference

Conference	Proceedings of the 2004 American Control Conference (AAC)
Country/Territory	United States
City	Boston, MA
Period	30/06/04 → 2/07/04

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10.1109/ACC.2004.249097

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title = "Information structures to secure control of globally rigid formations",

abstract = "Sensor and network topologies of rigid formations with distance information between mobile autonomous agents are considered. An approach based on rigidity for creating such topologies were suggested in our previous work. Here, we first illustrate some potential scenarios on formations that require unambiguity in the knowledge of distances between every pair of agents in a formation. Then, we show how a stronger type of rigidity, namely global rigidity, plays a role in creating such unambiguous formations. We draw out and summarize some relevant results from the related mathematical theory of global rigidity; and present some new results on globally rigid formations.",

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

year = "2004",

doi = "10.1109/ACC.2004.249097",

language = "English",

isbn = "0780383354",

series = "Proceedings of the American Control Conference",

pages = "4945--4950",

booktitle = "Proceedings of the 2004 American Control Conference (AAC)",

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

}

Eren, T, Whiteley, W, Morse, AS, Anderson, BDO & Belhumeur, PN 2004, Information structures to secure control of globally rigid formations. in Proceedings of the 2004 American Control Conference (AAC). Proceedings of the American Control Conference, vol. 6, pp. 4945-4950, Proceedings of the 2004 American Control Conference (AAC), Boston, MA, United States, 30/06/04. https://doi.org/10.1109/ACC.2004.249097

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AU - Eren, Tolga

AU - Whiteley, Walter

AU - Morse, A. Stephen

AU - Anderson, Brian D.O.

AU - Belhumeur, Peter N.

PY - 2004

Y1 - 2004

N2 - Sensor and network topologies of rigid formations with distance information between mobile autonomous agents are considered. An approach based on rigidity for creating such topologies were suggested in our previous work. Here, we first illustrate some potential scenarios on formations that require unambiguity in the knowledge of distances between every pair of agents in a formation. Then, we show how a stronger type of rigidity, namely global rigidity, plays a role in creating such unambiguous formations. We draw out and summarize some relevant results from the related mathematical theory of global rigidity; and present some new results on globally rigid formations.

AB - Sensor and network topologies of rigid formations with distance information between mobile autonomous agents are considered. An approach based on rigidity for creating such topologies were suggested in our previous work. Here, we first illustrate some potential scenarios on formations that require unambiguity in the knowledge of distances between every pair of agents in a formation. Then, we show how a stronger type of rigidity, namely global rigidity, plays a role in creating such unambiguous formations. We draw out and summarize some relevant results from the related mathematical theory of global rigidity; and present some new results on globally rigid formations.

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U2 - 10.1109/ACC.2004.249097

DO - 10.1109/ACC.2004.249097

M3 - Conference contribution

SN - 0780383354

T3 - Proceedings of the American Control Conference

SP - 4945

EP - 4950

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

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

Y2 - 30 June 2004 through 2 July 2004

ER -

Information structures to secure control of globally rigid formations

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