Abstract
We provide a theoretical framework that consists of graph theoretical and Lyapunov-based approaches to stability analysis and distributed control of multi-agent formations. This framework relays on the notion of graph rigidity as a means of identifying the shape variables of a formation. Using this approach, we can formally define formations of multiple vehicles and three types of stabilization/tracking problems for dynamic multi-agent systems. We show how these three problems can be addressed mutually independent of each other for a formation of two agents. Then, we introduce a procedure called dynamic node augmentation that allows construction of a larger formation with more agents that can be rendered structurally stable in a distributed manner from some initial formation that is structurally stable. We provide two examples of formations that can be controlled using this approach, namely, the V-formation and the diamond formation.
Keywords
Computer scienceRigidity (electromagnetism)Multi-agent systemDistributed computingGraphStability (learning theory)Theoretical computer scienceArtificial intelligenceEngineeringMachine learning
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Publication Info
- Year
- 2003
- Type
- article
- Volume
- 1
- Pages
- 209-215
- Citations
- 119
- Access
- Closed
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Cite This
R. Olfati-Saber,
Richard M. Murray
(2003).
Distributed structural stabilization and tracking for formations of dynamic multi-agents.
, 1
, 209-215.
https://doi.org/10.1109/cdc.2002.1184493
Identifiers
- DOI
- 10.1109/cdc.2002.1184493