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Almost Global Asymptotic Formation Stabilization Using Navigation Functions


Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/129

Almost Global Asymptotic Formation Stabilization Using Navigation Functions

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dc.contributor.author Kumar, Amit en_US
dc.contributor.author Tanner, Herbert G en_US
dc.date.accessioned 2006-03-11T03:18:32Z
dc.date.available 2006-03-11T03:18:32Z
dc.date.issued 2004-10-08T21:37:45Z
dc.identifier.uri http://hdl.handle.net/1928/129
dc.description.abstract We 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.extent 71755 bytes
dc.format.extent 1877 bytes
dc.format.extent 609 bytes
dc.format.mimetype application/pdf
dc.format.mimetype text/plain
dc.format.mimetype text/plain
dc.language.iso en_US en_US
dc.relation.ispartofseries ME-TR;04-001 en_US
dc.subject Formations en_US
dc.subject Navigation functions en_US
dc.subject formation function en_US
dc.subject cooperative control en_US
dc.subject graph theory en_US
dc.title Almost Global Asymptotic Formation Stabilization Using Navigation Functions en_US
dc.type Technical Report en_US

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