TY - GEN
T1 - Persistence acquisition and maintenance for autonomous formations
AU - Yu, Changbin
AU - Fidan, Bariş
AU - Anderson, Brian D.O.
PY - 2005
Y1 - 2005
N2 - Built upon a recently developed theoretical framework, we consider some practical issues raised in autonomous multi-agent formation control. We use the notions of rigidity and persistence to analyze the cohesiveness of the formation structure and maintenance of the constraints on each individual agent. We present basic properties of persistent formations and give an operational criterion to determine if a formation is persistent. Using the framework we develop, we seek to provide systematic ways of acquiring persistence for classes of formations often found in real world applications. Decentralized automatic acquisition of persistence for rigid formations is an open problem and answers found for these specific examples may serve as hints for seeking a general solution. Another focus of this paper is on how to transfer autonomy (abstracted as degrees of freedom) among agents, when the formation changes with new agent(s) added, to preserve persistence.
AB - Built upon a recently developed theoretical framework, we consider some practical issues raised in autonomous multi-agent formation control. We use the notions of rigidity and persistence to analyze the cohesiveness of the formation structure and maintenance of the constraints on each individual agent. We present basic properties of persistent formations and give an operational criterion to determine if a formation is persistent. Using the framework we develop, we seek to provide systematic ways of acquiring persistence for classes of formations often found in real world applications. Decentralized automatic acquisition of persistence for rigid formations is an open problem and answers found for these specific examples may serve as hints for seeking a general solution. Another focus of this paper is on how to transfer autonomy (abstracted as degrees of freedom) among agents, when the formation changes with new agent(s) added, to preserve persistence.
UR - http://www.scopus.com/inward/record.url?scp=33847201520&partnerID=8YFLogxK
M3 - Conference Paper
SN - 0780393996
SN - 9780780393998
T3 - Proceedings of the 2005 Intelligent Sensors, Sensor Networks and Information Processing Conference
SP - 379
EP - 384
BT - Proceedings of the 2005 Intelligent Sensors, Sensor Networks and Information Processing Conference
T2 - 2005 Intelligent Sensors, Sensor Networks and Information Processing Conference
Y2 - 5 December 2005 through 8 December 2005
ER -