View source for Stability Analysis of Stochastically Varying Formations of Dynamic Agents

{{HTDB paper
| authors = Vijay Gupta, Babak Hassibi, Richard M. Murray
| title = Stability Analysis of Stochastically Varying Formations of Dynamic Agents
| source = 2003 Conference on Decision and Control (CDC)
| year = 2003
| type =  Conference 
  Paper
| funding = AFOSR/info
| url = http://www.cds.caltech.edu/~murray/preprints/ghm03-cdc.pdf
| abstract = 
We analyze a network of dynamic agents where the
topology of the network specifies the information
flow between the agents. We present an analysis
method for such a system for both consensus and
formation stabilization problems. We consider the
case of agent dynamics being a single integrator in
more detail to show the general features introduced
by the information flow. Then we show that the
method of analysis can be extended to more general cases of complicated agent dynamics, non-ideal
links for information flow, etc. We also consider the
case when the topology of the network is changing
over time. The focus of the paper is on obtaining
conditions for the stability of the formation that
can be checked in a decentralized way. Some simple examples are also presented.

| flags = 
| tag = ghm03-cdc
| id = 2003i
}}