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dc.contributor.authorde la Croix, Jean-Pierreen_US
dc.contributor.authorEgerstedt, Magnus B.en_US
dc.date.accessioned2013-02-12T21:17:16Z
dc.date.available2013-02-12T21:17:16Z
dc.date.issued2012-11
dc.identifier.citationJ.P. de la Croix and M. Egerstedt, "Controllability Characterizations of Leader-Based Swarm Interactions," AAAI Symposium on Human Control of Bio-Inspired Swarms, Arlington, DC, Nov. 2012.en_US
dc.identifier.urihttp://hdl.handle.net/1853/46177
dc.description© 2012, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.en_US
dc.descriptionThe definitive version of this paper is available at: http://www.aaai.org/ocs/index.php/FSS/FSS12/paper/view/5543/5832en_US
dc.descriptionPresented at the AAAI Symposium on Human Control of Bio-Inspired Swarms, Arlington, DC, Nov. 2012en_US
dc.description.abstractIn this paper, we investigate what role the network topology plays when controlling a network of mobile robots. This is a question of key importance in the emerging area of humanswarm interaction and we approach this question by letting a human user inject control signals at a single leader-node, which are then propagated throughout the network. Based on a user study, it is found that some topologies are more amenable to human control than others, which can be interpreted in terms of the rank of the controllability matrix of the underlying network dynamics, as well as, measures of node centrality on the leader of the network.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectNetwork topologyen_US
dc.subjectMobile robotsen_US
dc.subjectHuman-swarm interactionen_US
dc.subjectControl signalsen_US
dc.titleControllability Characterizations of Leader-Based Swarm Interactionsen_US
dc.typeProceedingsen_US
dc.typePost-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalAssociation for the Advancement of Artificial Intelligenceen_US


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