Murray: htdb2wiki: creating page for 2001k_fm02b-ifac.html

2016-05-15T06:19:12Z

htdb2wiki: creating page for 2001k_fm02b-ifac.html

← Older revision		Revision as of 06:19, 15 May 2016
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	\| authors = J. Alexander Fax and Richard M. Murray		\| authors = J. Alexander Fax and Richard M. Murray
	\| title = Information Flow and Cooperative Control of Vehicle Formations		\| title = Information Flow and Cooperative Control of Vehicle Formations
	\| source = ~~<i>IEEE T. Automatic Control</i>, 49(9):1465-1476~~		\| source = 2002 IFAC World Congress
	\| year = ~~2004~~		\| year = 2001
	\| type = ~~Journal~~		\| type = Conference Paper
	~~Submission~~		\| funding = AFOSR/coop
	\| funding = AFOSR/~~microsat, AFOSR/infoflow~~		\| url = http://www.cds.caltech.edu/~murray/preprints/fm02b-ifac.pdf
	\| url = http://www.cds.caltech.edu/~murray/preprints/~~fm03~~-~~tac~~.pdf
	\| abstract =		\| abstract =
	~~We consider~~ the ~~problem of cooperation among a collection~~ of vehicles ~~performing~~ a ~~shared~~		Vehicles in formation often lack global information regarding the state of
	~~task using intervehicle communication~~ to ~~coordinate their actions~~. ~~We apply tools from graph~~		all the vehicles, a deficiency which can lead to instability and poor performance. In
	~~theory to relate the topology of the communication network to formation stability. We prove a~~		this paper, we demonstrate how exchange of minimal amounts of information between
	~~Nyquist criterion that uses the eigenvalues~~ of ~~the graph Laplacian matrix to determine the effect~~		vehicles can be designed to realize a dynamical system which supplies each vehicle with
	of ~~the graph on formation stability. We also propose a method for decentralized~~ information		a shared reference trajectory. When the information flow law is placed in the control
	~~exchange between~~ vehicles~~. This approach realizes~~ a dynamical system ~~that~~ supplies each vehicle		loop, a separation principle is proven which guarantees stability of the formation and
	~~with~~ a ~~common~~ reference ~~to be used for cooperative motion~~. ~~We prove a separation principle~~		convergence of the information flow law regardless of the information flow topology.
	~~that states that formation stability is achieved if~~ the information flow is ~~stable for~~ the ~~given~~
	~~graph~~ and if the ~~local controller stabilizes~~ the ~~vehicle. The~~ information flow ~~can be rendered~~
	~~highly robust to changes in the graph, thus enabling tight formation control despite limitations~~
	~~in intervehicle communication capability~~.
	\| flags =		\| flags =
	\| tag = ~~fm04~~-~~tac~~		\| filetype = PDF, 6 pages
	\| id = ~~2003g~~		\| filesize = 111K
			\| tag = fm02b-ifac
			\| id = 2001k
	}}		}}

Murray: htdb2wiki: creating page for 2003g_fm04-tac.html

2016-05-15T06:18:42Z

htdb2wiki: creating page for 2003g_fm04-tac.html

New page

{{HTDB paper
| authors = J. Alexander Fax and Richard M. Murray
| title = Information Flow and Cooperative Control of Vehicle Formations
| source = <i>IEEE T. Automatic Control</i>, 49(9):1465-1476
| year = 2004
| type = Journal
Submission
| funding = AFOSR/microsat, AFOSR/infoflow
| url = http://www.cds.caltech.edu/~murray/preprints/fm03-tac.pdf
| abstract =
We consider the problem of cooperation among a collection of vehicles performing a shared
task using intervehicle communication to coordinate their actions. We apply tools from graph
theory to relate the topology of the communication network to formation stability. We prove a
Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect
of the graph on formation stability. We also propose a method for decentralized information
exchange between vehicles. This approach realizes a dynamical system that supplies each vehicle
with a common reference to be used for cooperative motion. We prove a separation principle
that states that formation stability is achieved if the information flow is stable for the given
graph and if the local controller stabilizes the vehicle. The information flow can be rendered
highly robust to changes in the graph, thus enabling tight formation control despite limitations
in intervehicle communication capability.
| flags =
| tag = fm04-tac
| id = 2003g
}}

Information Flow and Cooperative Control of Vehicle Formations - Revision history

Murray: htdb2wiki: creating page for 2001k_fm02b-ifac.html

Murray: htdb2wiki: creating page for 2003g_fm04-tac.html