Decentralized control of vehicle formations

Systems and Control Letters

Volumn 54, Issue 9, 2005, Pages 899-910

  Lafferriere, G ^a   Williams, A ^a   Caughman, J ^a   Veerman, J J P ^a  

^a PORTLAND STATE UNIVERSITY   (United States)

Author keywords

Algebraic graph theory; Decentralized control; Formation stability; Graph Laplacian; Rooted directed spanning tree

Indexed keywords

CONTROL SYSTEMS; EIGENVALUES AND EIGENFUNCTIONS; FEEDBACK CONTROL; GRAPH THEORY; MATRIX ALGEBRA; REMOTELY OPERATED VEHICLES; STABILIZATION; TREES (MATHEMATICS); UNMANNED VEHICLES;

ALGEBRIC GRAPH THEORY; FORMATION STABILITY; GRAPH LAPLACIAN; ROOTED DIRECTED SPANNING TREE;

DECENTRALIZED CONTROL;

EID: 21444434706     PISSN: 01676911     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.sysconle.2005.02.004     Document Type: Article

References (29)

1. G. Ayres de Castro, and F. Paganini Convex synthesis of controllers for consensus Proceedings of the American Control Conference June 2004 4933 4938
2. R. Brualdi, and H. Ryser Combinatorial Matrix Theory, vol. 39 of Encyclopedia of Mathematics and Its Applications 1991 Cambridge University Press Cambridge
3. F.R.K. Chung, Spectral Graph Theory, CBMS Regional Conference Series in Mathematics, American Mathematical Society, Providence, RI, 1997.
4. J.A. Fax, Optimal and cooperative control of vehicle formations, Ph.D. Thesis, California Institute of Technology, 2001.
5. J.A. Fax, and R.M. Murray Information flow and cooperative control of vehicle formations IEEE Trans. Automat. Control 49 9 2003 1465 1476
6. M. Fiedler Algebraic connectivity of graphs Czechoslovak Math. J. 23 98 1973 298 305
7. S. Glavaski, M. Chavez, R. Day, L. Gomez-Ramos, P. Nag, A. Williams, W. Zhang, Vehicle networks: achieving regular formation, IMA Tech. Rep., 2002.
8. C.D. Godsil Algebraic Combinatorics 1993 Chapman & Hall New York
9. A. Jadbabaie, J. Lin, and A.S. Morse Coordination of groups of mobile autonomous agents using nearest neighbor rules IEEE Trans. Automat. Control 48 6 2003 998 1001
10. G. Lafferriere, J. Caughman, A. Williams, Graph theoretic methods in the stability of vehicle formations, ACC2004, July 2004, pp. 3724-3729.
11. J. Lawton, R. Beard, and B. Young A decentralized approach to formation maneuvers IEEE Trans. Robotics Automat. 19 6 2003 933 941
12. N.E. Leonard, and E. Fiorelli Virtual leaders, artificial potentials and coordinated control of groups Proceedings of IEEE Conference on Decision and Control 2001 2968 2973
13. N.E. Leonard, P. Ogren, Obstacle avoidance in formation, IEEE ICRA, September 2003, pp. 2492-2497.
14. R. Merris Laplacian graph eigenvectors Linear Algebra Appl. 278 1998 221 236
15. L. Moreau Leaderless coordination via bidirectional and unidirectional time-dependent communication Proceedings of IEEE Conference on Decision and Control December 2003 3070 3075
16. A. Okubo Dynamical aspects of animal grouping: swarms, schools, flocks and herds Adv. Biophys. 22 1986 1 94
17. R. Olfati-Saber, and R. Murray Agreement problems in networks with directed graphs and switching topology Proceedings of IEEE Conference on Decision and Control December 2003 4126 4132
18. R. Olfati-Saber, and R. Murray Consensus protocols for networks of dynamic agents Proceedings of the American Control Conference July 2003 951 956
19. W. Ren, and R. Beard Consensus of information under dynamically changing interaction topologies Proceedings of the American Control Conference June 2004 4939 4944
20. W. Ren, and R. Beard A decentralized scheme for spacecraft formation flying via the virtual structure approach AIAA J. Guidance, Control Dynamics 27 1 2004 73 82
21. W. Ren, R. Beard, Consensus seeking in multi-agent systems using dynamically changing interaction topologies, IEEE Trans. Automat. Control, to appear.
22. A.G. Sparks Special issue on control of satellite formations Internat. J. Robust Nonlinear Control 12 2-3 2002
23. H. Tanner, A. Jadbabaie, and G. Pappas Stable flocking of mobile agents, part I: fixed topology Proceedings of IEEE Conference on Decision and Control December 2003 2010 2015
24. H. Tanner, A. Jadbabaie, and G. Pappas Stable flocking of mobile agents, part II: dynamic topology Proceedings of IEEE Conference on Decision and Control December 2003 2016 2021
25. H.G. Tanner, A. Jadbabaie, G.J. Pappas, Flocking in fixed and switching networks, Automatica, submitted for publication.
26. J.J.P. Veerman, G. Lafferriere, J.S. Caughman, A. Williams, Flocks and formations, J. Statist. Phys., submitted. Available at http://www.mth.pdx.edu/ ~veerman/flocks2.pdf.
27. T. Vicsek, A. Czirok, E. Ben Jacob, I. Cohen, and O. Schochet Novel type of phase transitions in a system of self-driven particles Phys. Rev. Lett. 75 1995 1226 1229
28. D.B. West Introduction to Graph Theory 2001 Prentice-Hall London
29. A. Williams, S. Glavǎski, T. Samad, Formations of formations: hierarchy and stability, ACC2004, July 2004, pp. 2992-2997.