3-cycle-free persistence for cooperative control of formations with acyclic control structure ?
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Tarih
2009
Yazarlar
Dergi Başlığı
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Yayıncı
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this paper, we analyze the problem of acquiring 3-cycle-free persistent formations of mobile autonomous agents that have acyclic control structure. Nyquist-like criterion for formation stabilization is used in literature for the problem of relative formation stabilization. For this purpose, spectral properties of the Laplacian matrix are used in evaluating desirable structural properties of formations. Establishing measures of near-periodicity are useful in quantifying formation stability margins. In this paper, we analyze constructions to create non-3-periodic persistent formations, i.e., we study the constructions to create 3-cycle-free persistent formations. Central to the development of our analysis will be the use of tools from rigidity theory and graph Laplacians.
Açıklama
Int. Fed. Autom. Control (IFAC) Tech. Comm.:; Comput. Intell. Control
2nd IFAC International Conference on Intelligent Control Systems and Signal Processing, ICONS 2009 -- 21 September 2009 through 23 September 2009 -- Istanbul -- 85837
2nd IFAC International Conference on Intelligent Control Systems and Signal Processing, ICONS 2009 -- 21 September 2009 through 23 September 2009 -- Istanbul -- 85837
Anahtar Kelimeler
Cooperative control systems; Coordinated control of mobile autonomous agents; Coordination of multiple vehicle systems; Multi-agent systems; Networked robotic systems
Kaynak
IFAC Proceedings Volumes (IFAC-PapersOnline)
WoS Q Değeri
Scopus Q Değeri
N/A
Cilt
2
Sayı
PART 1
