Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints

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Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraint.pdf (342.04 KB)
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Smith, Brian Stephen
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http://hdl.handle.net/1853/38866
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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 formation. 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 implement 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.
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2009-06
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