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The Center for Control, Dynamical Systems, and Computation Spring Seminars

Summary: The Center for Control, Dynamical Systems, and Computation
Spring Seminars
Persistent Autonomous Formations
and Cohesive Motion Control
by Dr. Baris Fidan
National ICT Australia &
The Australian National University
Friday, June 9th, 2006 3:00 - 4:00 PM ESB 2001
This talk is on analysis of a general class of autonomous multi-agent systems moving in formation, namely persistent
formations, based on a recently developed theoretical framework of graph rigidity and persistence. In a persistent formation,
the formation shape is maintained during any continuous motion via a set of constraints on each agent to keep its distances
from a pre-specified group of other neighboring agents constant. In the first part of the talk the general characteristics of
rigid and persistent graphs, their implications on the control of persistent formations and some operational criteria to check
the persistence of a given formation are reviewed. In the second part, acquisition and maintenance of the persistence of
certain types of autonomous formations are considered. Some common operations on persistent formations including
addition of new agents to the formation, closing ranks when an agent is lost, merging two or more formations, splitting a
formation into smaller formations are reviewed, and strategies for maintaining persistence during these operations are
presented. The third and final part is on the cohesive motion control of persistent autonomous formations, where the aim is


Source: Akhmedov, Azer - Department of Mathematics, University of California at Santa Barbara


Collections: Mathematics