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

Brian Smith; Magnus Egerstedt; Ayanna Howard

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.

Published: 2010-05-16
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2007.2204