Automatic generation of persistent formations for multi-agent networks under range constraints

Mobile Networks and Applications

Volumn 14, Issue 3 SPEC. ISS., 2009, Pages 322-335

  Smith, Brian S ^a   Egerstedt, Magnus ^a   Howard, Ayanna ^a  

^a GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Decentralized control; Formation control; Formations; Graph operations; Graph based control; Multi agent network; Persistent graphs; Rigid graphs

Indexed keywords

FORMATION CONTROL; FORMATIONS; GRAPH OPERATIONS; GRAPH-BASED CONTROL; MULTI-AGENT NETWORK; PERSISTENT GRAPHS; RIGID GRAPHS;

MULTI AGENT SYSTEMS; ROBOTICS; ROBOTS; WIRELESS NETWORKS;

DECENTRALIZED CONTROL;

EID: 65049086712     PISSN: 1383469X     EISSN: None     Source Type: Journal    
DOI: 10.1007/s11036-009-0153-x     Document Type: Article

References (36)

1. T Balch RC Arkin 1998 Behavior-based formation control for multirobot teams IEEE Trans Robot Automat 14 6 926 939 Dec
2. J Cortés S Martínez F Bullo 2006 Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions IEEE Trans Robot Automat 51 8 1289 1298 Aug
3. J Desai J Ostrowski V Kumar 2001 Modeling and control of formations of nonholonomic mobile robots IEEE Trans Robot Automat 17 6 905 908 Dec
4. KD Do J Pan 2007 Nonlinear formation control of unicycle-type mobile robots Robot Auton Syst 55 3 191 204 March
5. M Egerstedt X Hu 2001 Formation constrained multi-agent control IEEE Trans Robot Automat 17 6 947 951 Dec
6. S Kalantar UR Zimmer 2007 Distributed shape control of homogeneous swarms of autonomous underwater vehicles Auton Robots 22 1 37 53 January
7. Kaminka GA, Glick R (2006) Towards robust multi-robot formations. In: Conference on international robotics and automation, Orlando, 15-19 May 2006, pp 582-588
8. J Lawton R Beard B Young 2003 A decentralized approach to formation maneuvers IEEE Trans Robot Automat 19 6 933 941 Dec
9. Leonard NE, Fiorelli E (2001) Virtual leaders, artificial potentials and coordinated control of groups. In: Proceedings of the IEEE conference on decision and control 2001, Orlando, December 2001, pp 2968-2973
10. Lin J, Morse A, Anderson B (2003) The multi-agent rendezvous problem. In: Proceedings of the 42nd IEEE conference on decision and control, Maui, December 2003, pp 1508-1513
11. Sugihara K, Suzuki I (1990) Distributed motion coordination of multiple robots. In: Proceedings of IEEE int. symp. on intelligent control, Philadelphia, 5-7 September 1990, pp 138-143
12. L Vig JA Adams 2006 Multi-robot coalition formation IEEE Trans Robot 22 4 637 649 August
13. Yuan L, Weidong C, Yugeng X (2006) Energy-efficient aggregation control for mobile sensor networks. In: International conference on intelligent computing, vol 344. Intelligent control and automation, Kunming, August 2006, pp 188-193
14. Zhijun T, Ozguner U (2006) On non-escape search for a moving target by multiple mobile sensor agents. In: American control conference, American automatic control council, IEEE, Minneapolis, June 2006, p 6
15. H Ando Y Oasa I Suzuki M Yamashita 1999 Distributed memoryless point convergence algorithm for mobile robots with limited visibility IEEE Trans Robot Automat 15 818 828 Oct
16. Eren T, Whiteley W, Anderson BDO, Morse AS, Belhumeur PN (2005) Information structures to secure control of rigid formations with leader-follower architecture. In: Proceedings of the American control conference, Portland, June 2005, pp 2966-2971
17. Fax JA, Murray RM (2002) Graph laplacian and stabilization of vehicle formations. In: Proceedings of the 15th IFAC conf, Barcelona, 21-26 July 2002, pp 283-288
18. J Fax R Murray 2004 Information flow and cooperative control of vehicle formations IEEE Trans Automat Contr 49 1465 1476 Sept
19. JLA Jadbabaie AS Morse 2003 Coordination of groups of mobile autonomous agents using nearest neighbor rules IEEE Trans Automat Contr 48 6 988 1001 June
20. M Ji M Egerstedt 2007 Distributed coordination control of multi-agent systems while preserving connectedness IEEE Trans Robot 23 693 703
21. Z Lin M Broucke B Francis 2004 Local control strategies for groups of mobile autonomous agents IEEE Trans Automat Contr 49 4 622 629
22. Y Kim M Mesbahi 2006 On maximizing the second smallest eigenvalue of a state-dependent graph laplacian IEEE Trans Automat Contr 51 116 120 Jan
23. Ren W, Beard R (2004) Consensus of information under dynamically changing interaction topologies. In: Proceedings of the American control conference 2004, vol 6, Boston, 30 June-2 July 2004, pp 4939-4944
24. Saber RO, Murray RM (2002) Distributed structural stabilization and tracking for formations of dynamic multi-agents. In: Proceedings of the 41st IEEE conference on decision and control 2002, vol 1, Las Vegas, December 2002, pp 209-215
25. Saber RO, Murray RM (2003) Flocking with obstacl avoidance: cooperation with limited communication in mobile networks. In: Proceedings of the 42nd IEEE conference on decision and control 2003, vol 2, Maui, December 2003, pp 2022-2028
26. Saber RO, Murray RM (2003) Agreement problems in networks with directed graphs and switching toplogy. In: Proceedings of the 42nd IEEE conference on decision and control 2003, vol 4, Maui, December 2003, pp 4126-4132
27. JM Hendrickx BDO Anderson J-C Delvenne VD Blondel 2000 Directed graphs for the analysis of rigidity and persistence in autonomous agent systems Int J Robust Nonlinear Control 17 960 981
28. Hendrickx JM, Fidan B, Yu C, Anderson BDO, Blondel VD (2006) Elementary operations for the reorganization of minimally persistent formations. In: Proceedings of the mathematical theory of networks and systems (MTNS) conference, no. 17, Kyoto, July 2006, pp 859-873
29. Gluck H (1975) Almost all simply connected closed surfaces are rigid. In: Geometric topology. Lecture notes in Math, vol 438. Springer, Berlin, pp 225-239
30. B Roth 1981 Rigid and flexible frameworks Am Math Mon 88 1 6 21
31. T Tay W Whiteley 1985 Generating isostatic frameworks Topol Struct 11 21 69
32. G Laman 1970 On graphs and rigidity of plane skeletal structures J Eng Math 4 4 331 340 October
33. DJ Jacobs B Hendrickson 1997 An algorithm for two-dimensional rigidity percolation: the pebble game J Comput Phys 137 2 346 365 June
34. Smith BS, Egerstedt M, Howard A (2008) Automatic deployment and formation control of decentralized multi-agent networks. In: Proceedings of the IEEE international conference on robotics and automation, Pasadena, 19-23 May 2008
35. Baillieul J, Suri A (2003) Information patterns and hedging brockett's theorem in controlling vehicle formations. In: Proceedings of the 42nd IEEE international conference on decision and control, Maui, December 2003, pp 556-563
36. Eren T, Whiteley W, Anderson BD, Morse AS, Belhumeur PN (2005) Information structures to secure control of rigid formations with leader-follower architecture. In: Proceedings of the 2005 American control conference, vol 4, Portland, June 2005, pp 2966-2971