By Topic

Information Architecture and Control Design for Rigid Formations

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Anderson, B.D.O. ; Australian Nat. Univ., Canberra ; Yu Changbin ; Baris, F.

Formations of robots, underwater vehicles and autonomous airborne vehicles are progressively being deployed to tackle problems of surveillance, bush fire control, and the like. Much formation behavior mimics the behavior of formations of living organisms, such as birds and fish. This paper reviews a number of concepts and results relevant to the design of control schemes and information architectures to maintain the shape of a formation of autonomous agents. The task of providing satisfactory sensing, communication and control architectures within a formation of autonomous agents is emphasized and elaborated in the paper. The paper provides a set of technical tools for characterizing and designing information architectures, which largely rest on graph theoretic considerations, as well as a control scheme exemplifying a class of decentralized controllers for maintaining the shape of a formation.

Published in:

Control Conference, 2007. CCC 2007. Chinese

Date of Conference:

26-31 July 2007