Leader-based multi-agent coordination: Controllability and optimal control

Proceedings of the American Control Conference

Volumn 2006, Issue , 2006, Pages 1358-1363

  Ji, Meng ^a   Muhammad, Abubakr ^b   Egerstedt, Magnus ^a  

^a GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

^b UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DECENTRALIZED AVERAGING RULES; HETEROGENOUS MULTI-AGENT APPLICATIONS;

CONSTRAINED OPTIMIZATION; CONTROLLABILITY; OPTIMAL CONTROL SYSTEMS;

MULTI AGENT SYSTEMS;

EID: 34047234197     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (26)

1. W. L. Brogan, Modern Control Theory, Prentice-Hall, Englewood Cliffs, NJ, 3rd Edition, 1990.
2. D. Chen and S. Toledo, "Combinatorial Characterization of the Null Spaces of Symmetric H-Matrices," Linear Algebra and its Applications, 392: pp.71-90, 2004.
3. T. Eren, W. Whiteley, B.D.O. Anderson, A.S. Morse, P.N. Belhumeur, "Information structures to secure control of rigid formations with leader-follower architecture" Proceedings of the American Control Conference, 2005 , pp. 2966-2971, June 8-10, 2005.
4. Jonathan Lawton, Randal Beard, Brett Young, "A Decentralized Approach To Formation Maneuvers," IEEE Transactions on Robotics and Automation, Vol. 19, No. 6, pp. 933-941, Dec. 2003.
5. J. Desai, J. P. Ostrowski and V. Kumar, "Controlling formations of multiple mobile robots," Proc. IEEE Int. Conf. Robot. Automat., Leuven, Belgium, pp.2864-2869, May 1998.
6. M. Egerstedt and X. Hu, "Formation Constrained Multi-Agent Control," IEEE Transactions on Robotics and Automation, Vol. 17, No. 6, pp. 947-951, Dec. 2001.
7. J.A. Fax and R.M. Murray, "Information flow and cooperative control of vehicle formations," IEEE Transactions on Automatic Control, Vol. 49 , Issue: 9 , Sept. 2004 pp. 1465 - 1476.
8. C. Godsil and G. Royle, Algebraic Graph Theory, Springer, 2001.
9. A. Hatcher, Algebraic Topology, Cambridge, 2002.
10. H. Axelsson, M. Abubakr, and M. Egerstedt, "Autonomous Formation Switching for Multiple, Mobile Robots," IFAC Conference on Analysis and Design of Hybrid Systems, Saint-Malo, Brittany, France, June 2003.
11. A. Jadbabaie, J. Lin and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest rules," IEEE Transaction on Automatic Control, Vol. 48, No. 6, pp.988-1001, 2003.
12. M. Ji and M. Egerstedt, "Connectedness Preserving Distributed Coordination Control over Dynamic Graphs," Proceedings of the American Control Conference, 2005, pp. 93-98, Portland OR, June 8-10, 2005.
13. N. Leonard and E. Friorelli, "Virtual leaders, artificial potentials and coordinated control of groups," Proc. of the 40th IEEE Conference on Decision and Control 2001, Vol. 3, pp. 2968-2973, 4-7 Dec. 2001.
14. Z. Lin, M. Broucke, and B. Francis, "Local control strategies for groups of mobile autonomous agents," IEEE Trans. Automat. Contr., Vol. 49, No. 4, pp. 622-629, 2004.
15. J. Lin, A.S. Morse, and B.D.O. Anderson, "The Multi-Agent Rendezvous Problem," Proceedings of the 42nd IEEE Conference on Decision and Control, pp.1508-1513, Maui, Hawaii USA, Dec. 2003.
16. S. Martiez, F. Bullo, J. Cortés, and E. Frazzoli. "On Synchronous Robotic Networks - Part I: Models, Tasks and Complexity Notions", IEEE Transactions on Automatic Control, April 2005. Note: Submitted.
17. S. Martìez, F. Bullo, J. Cortès, and E. Frazzoli. "On Synchronous Robotic Networks - Part II: Time Complexity of Rendezvous and Deployment Algorithms", IEEE Transactions on Automatic Control, April 2005. Submitted.
18. M. Mesbahi, "On a dynamic extension of the theory of graphs," Proceedings of the 2002 American Control Conference, Vol. 2, pp. 1234- 1239 , 8-10 May 2002.
19. M. Mesbahi. "State-dependent graphs," Proceedings of the 42nd IEEE Conference on Decision and Control, pp. 3058-3063, Maui, Hawaii USA, Dec. 2003.
20. W. Ren, R.W. Beard, "Consensus of information under dynamically changing interaction topologies," Proceedings of the American Control Conference, 2004, Vol. 6, pp. 4939 - 4944, June 30-July 2, 2004.
21. R. O. Saber, R. M. Murray, "Flocking with obstacle avoidance: cooperation with limited communication in mobile networks," Proceedings of the 42nd IEEE Conference on Decision and Control, pp. 2022-2028, Maui, Hawaii USA, Dec. 2003.
22. R.O. Saber and R.M. Murray, "Agreement Problems in Networks with Directed Graphs and Switching Toplogy," Proceedings of the 42nd IEEE Conference on Decision and Control, 2003, Vol. 4, pp. 4126-4132, 9-12 Dec. 2003.
23. R.O. Saber and R.M. Murray, "Consensus problems in networks of agents with switching topology and time-delays," IEEE Transactions on Automatic Control, Vol. 49, pp. 1520-1533, Issue: 9, Sept. 2004.
24. D. Swaroop, J.K. Hedrick, "String Stability of Interconnected Systems," IEEE Transactions on Automatic Control, Vol. 41, Issue 3, pp. 349-357, March 1996.
25. H. Tanner, A. Jadbabaie, and G. J. Pappas, "Flocking in fixed and switching networks," IEEE Transactions on Automatic Control, Submitted April, 2005.
26. Herbert G. Tanner, George J. Pappas and Vijay Kumar, "Leader-to- Formation Stability", IEEE Transactions on Robotics and Automation, Vol. 20, No. 3, pp. 433-455, June 2004.