Title:
Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints
Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints
Author(s)
Smith, Brian Stephen
Egerstedt, Magnus B.
Howard, Ayanna M.
Egerstedt, Magnus B.
Howard, Ayanna M.
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Abstract
We present graph-based methods for determining
if a mobile robot network with a defined sensor and
communication range can persistently achieve a specified
formation, which implies that the formation, once achieved,
will be preserved by the direct maintenance of a subset
of inter-agent distances. Here, formations are defined by
a set of points whose inter-point distances correspond to
desired inter-agent distances. Further, we provide graph
operations to describe agent interactions that implement
a given formation, as well as an algorithm that, given a
persistent formation, automatically generates a sequence
of such operations.
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Date Issued
2007-10
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Text
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Proceedings