Research Article
Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints
@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
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.
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