1st International ICST Conference on Robot Communication and Coordination

Research Article

Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints

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  • @INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2204,
        author={Brian Smith and Magnus Egerstedt and Ayanna Howard},
        title={Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints},
        proceedings={1st International ICST Conference on Robot Communication and Coordination},
        proceedings_a={ROBOCOMM},
        year={2010},
        month={5},
        keywords={},
        doi={10.4108/ICST.ROBOCOMM2007.2204}
    }
    
  • Brian Smith
    Magnus Egerstedt
    Ayanna Howard
    Year: 2010
    Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints
    ROBOCOMM
    ICST
    DOI: 10.4108/ICST.ROBOCOMM2007.2204
Brian Smith, Magnus Egerstedt, Ayanna Howard

    Abstract

    We present graph-based methods for determining if a mobile robot network with a defined sensor and communication range can persistently achieve a specified formation, which implies that the formation, once achieved, will be preserved by the direct maintenance of a subset of inter-agent distances. Here, formations are defined by a set of points whose inter-point distances correspond 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.