View source for Cooperative Control of Multi-Vehicle Systems using Cost Graphs and Optimization

{{HTDB paper
| authors = Reza Olfati-Saber, William B. Dunbar, Richard M. Murray
| title = Cooperative Control of Multi-Vehicle Systems using Cost Graphs and Optimization
| source = 2003 American Control Conference
| year = 2002
| type =  Conference 
  Paper
| funding = DARPA/SEC
| url = http://www.cds.caltech.edu/~murray/preprints/odm03-acc.pdf
| abstract =  We introduce a class of triangulated graphs for algebraic representation 
  of formations that allows us to specify a mission cost for a group of vehicles. 
  This representation plus the navigational information allows us to formally 
  specify and solve tracking problems for groups of vehicles in formations using 
  an optimization-based approach. The approach is illustrated using a collection 
  of six underactuated vehicles that track a desired trajectory in formation.<br>
  
| flags = 
| tag = odm03-acc
| id = 2002p
}}