Information structures to secure Control of rigid formations with leader-follower architecture

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

*Corresponding author for this work

    Research output: Contribution to journalConference articlepeer-review

    55 Citations (Scopus)

    Abstract

    This paper is concerned with rigid formations of mobile autonomous agents that have leader-follower architecture. In a previous paper, Baillieul and Suri gave a proposition as a necessary condition for stable rigidity. They also gave a separate theorem as a sufficient condition for stable rigidity. This paper suggests an approach to analyze rigid formations that have leader-follower architecture. It proves that the third condition in the proposition given by Baillieul and Suri is redundant, and it proves that this proposition is a necessary and sufficient condition for stable rigidity. Simulation results are also presented to illustrate rigidity.

    Original languageEnglish
    Article numberThC04.1
    Pages (from-to)2966-2971
    Number of pages6
    JournalProceedings of the American Control Conference
    Volume4
    Publication statusPublished - 2005
    Event2005 American Control Conference, ACC - Portland, OR, United States
    Duration: 8 Jun 200510 Jun 2005

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