Title:
Responsiveness and Manipulability of Formations of Multi-Robot Networks

dc.contributor.author Kawashima, Hiroaki en_US
dc.contributor.author Zhu, Guangwei en_US
dc.contributor.author Hu, Jianghai en_US
dc.contributor.author Egerstedt, Magnus B. en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Electrical and Computer Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2013-02-12T21:17:16Z
dc.date.available 2013-02-12T21:17:16Z
dc.date.issued 2012-12
dc.description © 2012 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or distribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. en_US
dc.description Presented at the IEEE Conference on Decision and Control, Maui, Hawaii, Dec. 2012. en_US
dc.description DOI: 10.1109/CDC.2012.6426291 en_US
dc.description.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. en_US
dc.identifier.citation H. Kawashima, G. Zhu, J. Hu, and M. Egerstedt, "Responsiveness and Manipulability of Formations of Multi-Robot Networks," IEEE Conference on Decision and Control, Maui, Hawaii, Dec. 2012. en_US
dc.identifier.doi 10.1109/CDC.2012.6426291
dc.identifier.isbn 978-1-4673-2065-8
dc.identifier.issn 0743-1546
dc.identifier.uri http://hdl.handle.net/1853/46173
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers en_US
dc.subject Convergence en_US
dc.subject Multi-agent systems en_US
dc.subject Decentralized controllers en_US
dc.subject Measures of responsiveness en_US
dc.title Responsiveness and Manipulability of Formations of Multi-Robot Networks en_US
dc.type Text
dc.type.genre Proceedings
dc.type.genre Post-print
dspace.entity.type Publication
local.contributor.author Egerstedt, Magnus B.
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
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relation.isOrgUnitOfPublication 5b7adef2-447c-4270-b9fc-846bd76f80f2
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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