A framework for maintaining formations based on rigidity

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 15, Issue 1, 2002, Pages 499-504

  Eren, Tolga ^a   Belhumeur, Peter N ^b   Anderson, Brian D O ^c   Morse, A Stephen ^a  

^a YALE UNIVERSITY   (United States)

^b Columbia University ^*  (United States)

^c AUSTRALIAN NATIONAL UNIVERSITY   (Australia)

Author keywords

Autonomous vehicles; Coordination; Geometric approaches; Graph Theory; Graphs

Indexed keywords

AUTOMATION; GRAPH THEORY; RIGIDITY;

AUTONOMOUS VEHICLES; COORDINATION; GEOMETRIC APPROACHES; GRAPHS; INDUCTIVE CONSTRUCTION; LIMITED COMMUNICATION; MOBILE AUTONOMOUS; NUMBER OF VEHICLES;

VEHICLES;

EID: 84945548087     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20020721-6-es-1901.01308     Document Type: Conference Paper

References (8)

1. Anderson, B.D.O and H-M. Hong (1982). Structural controllability and matrix nets. International Journal of Control, 35, 397-416.
2. Corfmat, J.P. and A.S. Morse (1976). Structurally controllable and structurally canonical systems. IEEE Transactions on Automatic Control, 21, 129-131, 1976.
3. Desai, J., V. Kumar and J. Ostrowski (2001). Control of changes in formation for a team of mobile robots. IEEE Transactions on Robotics and Automations, submitted.
4. Fortune, S. (1995). Voronoi Diagrams and Delaunay Triangulations. In Computing in Euclidean Geometry, (D.Z. Du, F. Hwang. (Ed).). World Scientific Publishing Co., Singapore.
5. Laman, G. (1970). On Graphs and Rigidity of Plane Skeletal Structures. Journal of Engineering Mathematics, 4, 331-340.
6. Pappas, G.J., P. Tabuada and P. Lima (2001). Feasible Formations of Multi-Agent Systems. Proceedings of the American Control Conference, Arlington, Virginia.
7. Roth, B. (1981). Rigid and Flexible Frameworks. American Mathematical Monthly, 88, 6-21.
8. Whiteley, W. and T. Tay (1985). Generating Isostatic Frameworks. Structural Topology, 11, 21-69.