Distributed Formation Control While Preserving Connectedness
Author(s)
Ji, Meng
Advisor(s)
Editor(s)
Collections
Supplementary to:
Permanent Link
Abstract
This paper addresses the connectedness issue in
multi-agent coordination, i.e. the problem of ensuring that
the group stays connected while achieving some performance
objective. In particular, we continue our previous work on
rendezvous control and extend it to the formation control problem
over dynamic interaction graphs. By adding appropriate
weights to the edges in the graphs, we guarantee that the graphs
stay connected, while achieving the desired formations.
Sponsor
Date
2006-12
Extent
Resource Type
Text
Resource Subtype
Proceedings