Title:
Approximate Manipulability of Leader-Follower Networks
Approximate Manipulability of Leader-Follower Networks
| dc.contributor.author | Kawashima, Hiroaki | 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.contributor.corporatename | Kyoto University. Graduate School of Informatics | en_US |
| dc.date.accessioned | 2012-02-09T19:19:05Z | |
| dc.date.available | 2012-02-09T19:19:05Z | |
| dc.date.issued | 2011-12 | |
| dc.description | © 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 50th IEEE Conference on Decision and Control and European Control Conference, December 12-15, 2011, Orlando, FL, USA. | en_US |
| dc.description.abstract | We introduce the notion of manipulability to leader-follower networks as a tool to analyze how effective inputs injected at a leader node are in terms of their impact on the movements of the follower nodes, as a function of the interaction topologies and agent configurations. Classic manipulability is an index used in robotics for analyzing the singularity and efficiency of configurations of robot-arm manipulators. To define similar notions for leader-follower networks, we use a rigid-link approximation of the follower dynamics and under this assumption, we prove that the instantaneous follower velocities can be uniquely determined by that of the leader's, which allows us to define a meaningful manipulability index of the leader-follower networks | en_US |
| dc.identifier.citation | H. Kawashima and M. Egerstedt, "Approximate Manipulability of Leader-Follower Networks," IEEE Conference on Decision and Control, Orlando, FL, Dec. 2011. | en_US |
| dc.identifier.issn | 0191-2216 | |
| dc.identifier.uri | http://hdl.handle.net/1853/42397 | |
| 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 | Networked control systems | en_US |
| dc.subject | Agents and autonomous systems | en_US |
| dc.title | Approximate Manipulability of Leader-Follower 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 | |
| relation.isAuthorOfPublication | dd4872d3-2e0d-435d-861d-a61559d2bcb6 | |
| relation.isOrgUnitOfPublication | 5b7adef2-447c-4270-b9fc-846bd76f80f2 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 |
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