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Automatic generation of persistent formations for multi-agent networks under range constraints (2009)
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| Venue: | ACM/Springer Mobile Networks and Applications Journal |
| Citations: | 7 - 1 self |
BibTeX
@ARTICLE{Smith09automaticgeneration,
author = {Brian S. Smith and Magnus Egerstedt and Ayanna Howard and M. Egerstedt and A. Howard},
title = {Automatic generation of persistent formations for multi-agent networks under range constraints},
journal = {ACM/Springer Mobile Networks and Applications Journal},
year = {2009},
pages = {335}
}
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Abstract
Abstract In this paper we present a collection of graph-based methods for determining if a team of mobile robots, subjected to sensor and communication range constraints, can persistently achieve a specified forma-tion. What we mean by this is that the formation, once achieved, will be preserved by the direct maintenance of the smallest subset of all possible pairwise inter-agent distances. In this context, formations are defined by sets of points separated by distances corresponding to desired inter-agent distances. Further, we provide graph operations to describe agent interactions that im-plement a given formation, as well as an algorithm that, given a persistent formation, automatically generates a sequence of such operations. Experimental results are presented that illustrate the operation of the proposed methods on real robot platforms. Keywords multi-agent network · formations · formation control · graph-based control · decentralized control · persistent graphs · rigid graphs · graph operations
Keyphrases
persistent formation range constraint multi-agent network automatic generation specified forma-tion agent interaction graph-based method graph operation mobile robot possible pairwise inter-agent distance communication range constraint inter-agent distance experimental result direct maintenance real robot platform
