Distributed cooperative control of multiple vehicle formations using structural potential functions

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 15, Issue 1, 2002, Pages 495-500

  Olfati Saber, Reza ^a   Murray, Richard M ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Autonomous vehicles; Distributed control; Formation stabilization; Graph theory; Multivehicle systems; Potential functions

Indexed keywords

AUTOMATION; COMPUTATION THEORY; CONTROL THEORY; DISTRIBUTED PARAMETER CONTROL SYSTEMS; FLOW GRAPHS; GRAPH THEORY; STABILIZATION; STATE FEEDBACK;

AUTONOMOUS VEHICLES; DISTRIBUTED CONTROL; FORMATION STABILIZATION; MULTI-VEHICLE SYSTEMS; POTENTIAL FUNCTION;

VEHICLES;

EID: 84945535133     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20020721-6-es-1901.00244     Document Type: Conference Paper

References (4)

1. Diestel, R. (1997). Graph Theory. Vol. 173 of Graduate Texts in Mathematics. Springer-Verlag.
2. Fax, A. and R. M. Murray (2001). "Graph Laplacians and Vehicle Formation Stabilization". CDS Technical Report 01-007. California Institute of Technology. http://www.cds.caltech.edu/~murray/papers/2001g-fm01-cds.html.
3. Leonard, N. E. and E. Fiorelli (2001). "Virtual leaders, artificial potentials, and coordinated control of groups". In: Proc. of the 40th IEEE Conference on Decision and Control. Orlando, FL.
4. Rimon, E. and D. E. Koditschek (1992). "Exact robot navigation using artificial potential functions". IEEE Trans. on Robotics and Automation pp. 501-518.