Merging multiple formations: A meta-formation prospective

Changbin Yu; Fidan Banş; Julien M. Hendrickx; Brian D.O. Anderson

doi:10.1109/cdc.2006.377618

Merging multiple formations: A meta-formation prospective

Changbin Yu^*, Fidan Banş, Julien M. Hendrickx, Brian D.O. Anderson

^*Corresponding author for this work

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

9 Citations (Scopus)

Abstract

This paper considers the problem of merging of more than two (minimally) rigid formations which do not have any common agent to obtain a single (minimally) rigid formation in R² and R³. Following previously developed strategies for sequential merging of two rigid formations, a new set of enhanced merging operations is developed. They can be performed in a formalized meta-formation framework, where the individual rigid formations are considered as metavertices and they can be merged into a meta-formation. These operations for growing meta-formations offer a level of control to the merging quality and optimality, in the sense of minimizing the number of meta-edges (that is, edges between different meta-vertices) required. It is also proved that all minimally rigid meta-formations in R² can be obtained by successively merging two or more meta-vertices using the proposed set of meta-operations.

Original language	English
Title of host publication	Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4657-4663
Number of pages	7
ISBN (Print)	1424401712, 9781424401710
DOIs	https://doi.org/10.1109/cdc.2006.377618
Publication status	Published - 2006
Event	45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States Duration: 13 Dec 2006 → 15 Dec 2006

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	45th IEEE Conference on Decision and Control 2006, CDC
Country/Territory	United States
City	San Diego, CA
Period	13/12/06 → 15/12/06

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10.1109/cdc.2006.377618

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Yu, C., Banş, F., Hendrickx, J. M., & Anderson, B. D. O. (2006). Merging multiple formations: A meta-formation prospective. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 4657-4663). Article 4177509 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/cdc.2006.377618

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title = "Merging multiple formations: A meta-formation prospective",

abstract = "This paper considers the problem of merging of more than two (minimally) rigid formations which do not have any common agent to obtain a single (minimally) rigid formation in R2 and R3. Following previously developed strategies for sequential merging of two rigid formations, a new set of enhanced merging operations is developed. They can be performed in a formalized meta-formation framework, where the individual rigid formations are considered as metavertices and they can be merged into a meta-formation. These operations for growing meta-formations offer a level of control to the merging quality and optimality, in the sense of minimizing the number of meta-edges (that is, edges between different meta-vertices) required. It is also proved that all minimally rigid meta-formations in R2 can be obtained by successively merging two or more meta-vertices using the proposed set of meta-operations.",

author = "Changbin Yu and Fidan Ban{\c s} and Hendrickx, {Julien M.} and Anderson, {Brian D.O.}",

year = "2006",

doi = "10.1109/cdc.2006.377618",

language = "English",

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series = "Proceedings of the IEEE Conference on Decision and Control",

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note = "45th IEEE Conference on Decision and Control 2006, CDC ; Conference date: 13-12-2006 Through 15-12-2006",

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Yu, C, Banş, F, Hendrickx, JM & Anderson, BDO 2006, Merging multiple formations: A meta-formation prospective. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177509, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4657-4663, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 13/12/06. https://doi.org/10.1109/cdc.2006.377618

Merging multiple formations: A meta-formation prospective. / Yu, Changbin; Banş, Fidan; Hendrickx, Julien M. et al.
Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. p. 4657-4663 4177509 (Proceedings of the IEEE Conference on Decision and Control).

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

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AU - Hendrickx, Julien M.

AU - Anderson, Brian D.O.

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N2 - This paper considers the problem of merging of more than two (minimally) rigid formations which do not have any common agent to obtain a single (minimally) rigid formation in R2 and R3. Following previously developed strategies for sequential merging of two rigid formations, a new set of enhanced merging operations is developed. They can be performed in a formalized meta-formation framework, where the individual rigid formations are considered as metavertices and they can be merged into a meta-formation. These operations for growing meta-formations offer a level of control to the merging quality and optimality, in the sense of minimizing the number of meta-edges (that is, edges between different meta-vertices) required. It is also proved that all minimally rigid meta-formations in R2 can be obtained by successively merging two or more meta-vertices using the proposed set of meta-operations.

AB - This paper considers the problem of merging of more than two (minimally) rigid formations which do not have any common agent to obtain a single (minimally) rigid formation in R2 and R3. Following previously developed strategies for sequential merging of two rigid formations, a new set of enhanced merging operations is developed. They can be performed in a formalized meta-formation framework, where the individual rigid formations are considered as metavertices and they can be merged into a meta-formation. These operations for growing meta-formations offer a level of control to the merging quality and optimality, in the sense of minimizing the number of meta-edges (that is, edges between different meta-vertices) required. It is also proved that all minimally rigid meta-formations in R2 can be obtained by successively merging two or more meta-vertices using the proposed set of meta-operations.

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M3 - Conference contribution

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SN - 9781424401710

T3 - Proceedings of the IEEE Conference on Decision and Control

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Merging multiple formations: A meta-formation prospective

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