Topology and Complexity of Formations

Show full item record

Please use this identifier to cite or link to this item:

Title: Topology and Complexity of Formations
Author: Muhammad, Abubakr ; Egerstedt, Magnus B.
Abstract: Biological multi-agent systems such as animal herds, insect colonies and fish schools provide a lot of insight into the study and design of artificial multi-agent systems such as teams of autonomous mobile robots. Similarly, a lot can be learned about biological systems by borrowing design and analysis tools from multi-agent robotics. In this paper some recent work in the area of multi-agent robotics by the authors has been summarized, which addresses some basic issues in the modelling of formations with limited sensory and communication capabilities. The basic idea is to model spatial relationships between agents as connectivity graphs. An information theoretic complexity measure of multi-agent formations is suggested, which is based on the complexity of connectivity graphs. The complexity measure helps find graphs and formations of the highest and the lowest complexities.
Description: Presented at the Workshop on the Mathematics and Algorithms of Social Insects, Atlanta, GA, Dec. 2003.
Type: Proceedings
Citation: A. Muhammad and M. Egerstedt. Topology and Complexity of Formations. Workshop on the Mathematics and Algorithms of Social Insects, Atlanta, GA, Dec. 2003.
Date: 2003-12
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Subject: Cooperative control
Multi-agent robotic systems

All materials in SMARTech are protected under U.S. Copyright Law and all rights are reserved, unless otherwise specifically indicated on or in the materials.

Files in this item

Files Size Format View
TopInsects.pdf 551.3Kb PDF View/ Open

This item appears in the following Collection(s)

Show full item record