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dc.contributor.authorKumar, Amiten_US
dc.contributor.authorTanner, Herbert Gen_US
dc.date.accessioned2006-03-11T03:18:32Z
dc.date.available2006-03-11T03:18:32Z
dc.date.issued2004-10-08T21:37:45Z
dc.identifier.urihttp://hdl.handle.net/1928/129
dc.description.abstractWe present a navigation function through which a group of mobile agents can be coordinated to achieve a particular formation, both in terms of shape and orientation, while avoiding collisions between themselves and with obstacles in the environment. Convergence is global and complete, subject to the constraints of the navigation function methodology. Algebraic graph theoretic properties associated with the interconnection graph are shown to affect the shape of the navigation function. The approach is centralized but the potential function is constructed in a way that facilitates complete decentralization. The strategy presented will also serve as a point of reference and comparison in quantifying the cost of decentralization in terms of performance.en_US
dc.format.extent71755 bytes
dc.format.extent1877 bytes
dc.format.extent609 bytes
dc.format.mimetypeapplication/pdf
dc.format.mimetypetext/plain
dc.format.mimetypetext/plain
dc.language.isoen_USen_US
dc.relation.ispartofseriesME-TR;04-001en_US
dc.subjectFormationsen_US
dc.subjectNavigation functionsen_US
dc.subjectformation functionen_US
dc.subjectcooperative controlen_US
dc.subjectgraph theoryen_US
dc.titleAlmost Global Asymptotic Formation Stabilization Using Navigation Functionsen_US
dc.typeTechnical Reporten_US
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