View source for Information Flow and Cooperative Control of Vehicle Formations

{{HTDB paper
| authors = J. Alexander Fax and Richard M. Murray
| title = Information Flow and Cooperative Control of Vehicle Formations
| source = 2002 IFAC World Congress
| year = 2001
| type = Conference Paper
| funding = AFOSR/coop
| url = http://www.cds.caltech.edu/~murray/preprints/fm02b-ifac.pdf
| abstract = 
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.
| flags = 
| filetype = PDF, 6 pages
| filesize = 111K
| tag = fm02b-ifac
| id = 2001k
}}