论文信息 - STABILIZATION OF DYNAMIC VEHICLE FORMATION CONFIGURATIONS USING GRAPH LAPLACIANS

STABILIZATION OF DYNAMIC VEHICLE FORMATION CONFIGURATIONS USING GRAPH LAPLACIANS

Abstract In this paper, stability of a formation of vehicles coupled through a communication pattern which changes over time is examined. This analysis uses the graph theoretic techniques developed by Fax and Murray (2002 a ) in their analysis of vehicle formations with static communication patterns. The graph Laplacian stability properties defined by Fax and Murray are extended to include dynamic sensing and communication graphs. This method is applied to a periodic communication pattern and stability is evaluated. Finally, these ideas are considered relative to optimal communication schemes, adding robustness to these schemes, and evaluating general periodic formation patterns.

Carlos González | Kristi A. Morgansen

[1] Richard M. Murray,et al. INFORMATION FLOW AND COOPERATIVE CONTROL OF VEHICLE FORMATIONS , 2002 .

[2] Kostas J. Kyriakopoulos,et al. Closed loop navigation for multiple non-holonomic vehicles , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3] Jie Lin,et al. Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[4] Kristi A. Morgansen,et al. Limited communication control , 1999 .

[5] Mehran Mesbahi,et al. Formation flying control of multiple spacecraft via graphs , 2001 .

[6] R.M. Murray,et al. Distributed structural stabilization and tracking for formations of dynamic multi-agents , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[7] J. A. Fax,et al. Graph Laplacians and Stabilization of Vehicle Formations , 2002 .