Information Flow and Cooperative Control of Vehicle Formations
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J. Alexander Fax and Richard M. Murray
2002 IFAC World Congress
Vehicles in formation often lack global information regarding the state of all the vehicles, a deficiency which can lead to instability and poor performance. In this paper, we demonstrate how exchange of minimal amounts of information between vehicles can be designed to realize a dynamical system which supplies each vehicle with a shared reference trajectory. When the information flow law is placed in the control loop, a separation principle is proven which guarantees stability of the formation and convergence of the information flow law regardless of the information flow topology.
- Conference Paper: http://www.cds.caltech.edu/~murray/preprints/fm02b-ifac.pdf
- Project(s): Template:HTDB funding::AFOSR/coop