Robustness issues with undirected formations

A. Belabbas; S. Mou; A. S. Morse; B. D.O. Anderson

doi:10.1109/CDC.2012.6426284

Robustness issues with undirected formations

A. Belabbas^*, S. Mou, A. S. Morse, B. D.O. Anderson

^*Corresponding author for this work

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

41 Citations (Scopus)

Abstract

It is shown for any rigidity-based, undirected triangular formation of the type studied in [1], that if neighboring agents in the formation have slightly different understandings of what the desired distance between them is suppose to be, then almost for certain, the trajectory of the resulting distorted but rigid formation will converge exponentially fast to a closed orbit in ² which is traversed periodically at a single sinusoidal frequency.

Original language	English
Article number	6426284
Pages (from-to)	1445-1450
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
DOIs	https://doi.org/10.1109/CDC.2012.6426284
Publication status	Published - 2012
Event	51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States Duration: 10 Dec 2012 → 13 Dec 2012

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10.1109/CDC.2012.6426284

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title = "Robustness issues with undirected formations",

abstract = "It is shown for any rigidity-based, undirected triangular formation of the type studied in [1], that if neighboring agents in the formation have slightly different understandings of what the desired distance between them is suppose to be, then almost for certain, the trajectory of the resulting distorted but rigid formation will converge exponentially fast to a closed orbit in 2 which is traversed periodically at a single sinusoidal frequency.",

author = "A. Belabbas and S. Mou and Morse, {A. S.} and Anderson, {B. D.O.}",

year = "2012",

doi = "10.1109/CDC.2012.6426284",

language = "English",

pages = "1445--1450",

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

issn = "0743-1546",

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

note = "51st IEEE Conference on Decision and Control, CDC 2012 ; Conference date: 10-12-2012 Through 13-12-2012",

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TY - JOUR

T1 - Robustness issues with undirected formations

AU - Belabbas, A.

AU - Mou, S.

AU - Morse, A. S.

AU - Anderson, B. D.O.

PY - 2012

Y1 - 2012

N2 - It is shown for any rigidity-based, undirected triangular formation of the type studied in [1], that if neighboring agents in the formation have slightly different understandings of what the desired distance between them is suppose to be, then almost for certain, the trajectory of the resulting distorted but rigid formation will converge exponentially fast to a closed orbit in 2 which is traversed periodically at a single sinusoidal frequency.

AB - It is shown for any rigidity-based, undirected triangular formation of the type studied in [1], that if neighboring agents in the formation have slightly different understandings of what the desired distance between them is suppose to be, then almost for certain, the trajectory of the resulting distorted but rigid formation will converge exponentially fast to a closed orbit in 2 which is traversed periodically at a single sinusoidal frequency.

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U2 - 10.1109/CDC.2012.6426284

DO - 10.1109/CDC.2012.6426284

M3 - Conference article

AN - SCOPUS:84874271359

SN - 0743-1546

SP - 1445

EP - 1450

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

M1 - 6426284

T2 - 51st IEEE Conference on Decision and Control, CDC 2012

Y2 - 10 December 2012 through 13 December 2012

ER -

Robustness issues with undirected formations

Abstract

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