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\iteman{io-port 05690400}
\itemau{Smith, Brian S.; Egerstedt, Magnus; Howard, Ayanna}
\itemti{Automatic generation of persistent formations for multi-agent networks under range constraints.}
\itemso{Mob. Netw. Appl. 14, No. 3, 322-335 (2009).}
\itemab
Summary: 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.
\itemrv{~}
\itemcc{}
\itemut{multi-agent network; formations; formation control; graph-based control; decentralized control; persistent graphs; rigid graphs; graph operations}
\itemli{doi:10.1007/s11036-009-0153-x}
\end