NDLI: Principles to control autonomous formation merging

Content Provider	IEEE Xplore Digital Library
Author	Changbin Yu Fidan, B. Anderson, B.D.O.
Copyright Year	2006
Description	Author affiliation: Res. Sch. of Inf. Sci. & Eng., Australian Nat. Univ., Canberra, ACT (Changbin Yu; Fidan, B.; Anderson, B.D.O.)
Abstract	This paper provides a complete description of possible scenarios of merging two minimally rigid or globally rigid formations to obtain a single minimally rigid or globally rigid formation, respectively, both in $Ropf^{2}$ and $Ropf^{3}.$ A strategy is developed based on simplification of the merging problem to a problem of growing a minimally or globally rigid graph. Based on this strategy, three principles are provided to control the merging efficiently and optimally, in the sense of minimizing the number of added edges and the number of vertices incident to these edges. Any possible scenario of merging two given minimally or globally rigid formations can be handled using a combination of these three principles. Although the main results are provided for merging two formations, application of the proposed techniques to merging of more than two formations is briefly discussed as well
Sponsorship	American Automatic Control Council IFAC
File Size	314719
File Format	PDF
ISBN	1424402093
e-ISBN	1424402107
DOI	10.1109/ACC.2006.1655448
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Merging Optimal control Multiagent systems Explosions Autonomous agents Robots Underwater vehicles Unmanned aerial vehicles Land vehicles Control systems
Content Type	Text
Resource Type	Article

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