Responsiveness and Manipulability of Formations of Multi-Robot Networks

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CDC12-Resp.pdf (324.33 KB)
Author(s)
Kawashima, Hiroaki
Zhu, Guangwei
Hu, Jianghai
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http://hdl.handle.net/1853/46173
Abstract
This paper unifies the previously defined instantaneous measures of responsiveness in multi-agent systems, namely those of stiffness and manipulability. These concepts are used for characterizing how a networked multi-agent system responds to perturbation of agents or to exogenous movements of its leader nodes. The resulting unified notion of a system’s responsiveness provides us with a precise characterization of the effect of different choices of leader nodes and interaction topologies have on how easy or hard it is to control the network.
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2012-12
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