Information Patterns and Hedging Brockett's Theorem in Controlling Vehicle Formations

Proceedings of the IEEE Conference on Decision and Control

Volumn 1, Issue , 2003, Pages 556-563

  Baillieul, J ^a   Suri, A ^a  

^a BOSTON UNIVERSITY   (United States)

Author keywords

Constructive rigidity; Formation framework; Leader first follower pair; Rigid formation

Indexed keywords

ALGORITHMS; ASYMPTOTIC STABILITY; AUTONOMOUS AGENTS; FEEDBACK; GLOBAL POSITIONING SYSTEM; MOTION CONTROL; ROBOTS; SENSORS;

CONSTRUCTIVE RIGIDITY; FEEDBACK LAWS; FORMATION FRAMEWORK; INFORMATION PATTERNS; LEADER FIRST-FOLLOWER PAIR; RIGID FORMATION;

UNMANNED VEHICLES;

EID: 1542269282     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2003.1272622     Document Type: Conference Paper

References (20)

1. J. BAILLIEUL & A. SURI, 2003, "Information Patterns and Hedging Brockett's Theorem in Controlling Vehicle Formations", 2003 CDC Preprint available from http://iml.bu.edu/CNCS/pub/CDC03.1.pdf.
2. A. BLOCH, 2003. Nonholonomic Mechanics and Control (Inter-disciplinary Applied Mathematics, V. 24.), Springer Verlag, New York, March, 2003.
3. R.W. BROCKETT, 1990. "Some Mathematical Aspects of Robotics," in Robotics, Proceedings of Symposia in Applied Mathematics, Volume 41, American Mathematical Society, Providence, RI, pp. 1-19.
4. S. CAMAZINE, J.-L. DENEUBOURG, N.R. FRANKS, J. SNEYD, G. THERAULAZ, & E. BONABEAU, 2001. Self-Organization in Biological Systems, Princeton University Press, 538p.
5. D.-E. CHANG, S. SHADDEN, J.E. MARSDEN, & R. OLFATI-SABER, 2003. "Collision Avoidance for Multiple Agent Systems," in Proceedings of the 42-nd IEEE Conference on Decision and Control, Maui, December 9-12, 2003. (This volume).
6. J.-M. CORON, 1991. "Global asymptotic stabilization for control-lable systems without drift," Math. Contr. Signals Syst., vol. 5, pp. 295-312.
7. A. DAS, J. SPLETZER, V. KUMAR, & C. TAYLOR, "Ad Hoc Networks for Localization and Control," in Proceedings of the 41-st IEEE Conference on Decision and Control, Las Vegas, December, 2002, pp. 2978-2983.
8. T. EREN, P.N. BELHUMEUR, & A.S. MORSE, 2002. "Closing Ranks in Vehicle Formations Based on Rigidity," in Proceedings of the 41-st IEEE Conference on Decision and Control, Las Vegas, December, 2002, pp. 2959-2964.
9. J. GRAVER,B. SERVATIUS, & H. SERVATIUS, 1993. Combinatorial Rigidity, Graduate Studies in Mathematics, vol. 2. American Mathematical Society, Providence, R.I.
10. J. GRAVER, 2001. Counting on Frameworks: Mathematics to Aid the Design of Rigid Structures, Dolciani Mathematical Expositions, No. 25, The Mathematical Association of America, Washington, DC, 192 pp.
11. R. FIERRO, A.K. DAS, V. KUMAR, & J.P. OSTROWSKI, 2001. "Hybrid control of formations of robots," Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26, pp. 157-162.
12. L.L. GOULD & F. HEPPNER, 1974. "The vee formation of Canada geese," Auk, v. 91, pp. 494-506.
13. A. HUTH & C. WISSELL, 1992. "The simulation of the movement of fish schools," J. of Theoretical Biology, Vol. 156, pp. 465-485.
14. E.W. JUSTH & P.S. KRISHNAPRASAD, 2002. "Equilibria and steering laws for planar formations", submitted to Systems and Control Letters, September 2002.
15. R. BACHMAYER & N.E. LEONARD, 2002. "Vehicle Networks for Gradient Descent in a Sampled Environment," in Proceedings of the 41-st IEEE Conference on Decision and Control, Las Vegas, NV, December, 2002, pp. 112-117.
16. G.A. LAFFERRIERE & E.D. SONTAG, 1993. "Remarks on control Lyapunov functions for discontinuous stabilizing feedback," Proc. 32nd IEEE Conference on Decision and Control, San Antonio, TX, 1993, pp. 2398-2403.
17. F.-L. LIAN & R. MURRAY, 2002. "Real-Time Trajectory Generation for the Cooperative Path Planning of Multi-Vehicle Systems," in Proceedings of the 41-st IEEE Conference on Decision and Control, Las Vegas, NV, December, 2002, pp. 3766-3769.
18. J. LONCARIC, 1985. Geometric Analysis of Compliant Mechanisms in Robotics, Division of Applied Sciences PhD Thesis, Harvard Univ.
19. J-B. POMET, 1992. "Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift," Syst. Control Lett., vol. 18, pp. 147-158.
20. H.G. TANNER, G.J. PAPPAS, & V. KUMAR, 2002. "Input-to-state stability on formation graphs," in Proceedings of the 41-st IEEE Conference on Decision and Control, Las Vegas, December, 2002, pp. 2439-2444.