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    Automatic Generation of Persistent Formations for Multi-agent Networks under Range Constraints

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    Date
    2007-10
    Author
    Smith, Brian Stephen
    Howard, Ayanna
    Egerstedt, Magnus B.
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    Abstract
    We present graph-based methods for determining if a mobile robot network with a defined sensor and communication range can persistently achieve a specified formation, which implies that the formation, once achieved, will be preserved by the direct maintenance of a subset of inter-agent distances. Here, formations are defined by a set of points whose inter-point distances correspond to desired inter-agent distances. Further, we provide graph operations to describe agent interactions that implement a given formation, as well as an algorithm that, given a persistent formation, automatically generates a sequence of such operations.
    URI
    http://hdl.handle.net/1853/38651
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    • Human-Automation Systems Lab (HumAns) [153]
    • Human-Automation Systems Lab HumAns Publications [153]

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