Structural Persistence of Three Dimensional Autonomous Formations

Changbin Yu; Julien M. Hendrickx; Barıș Fidan; Brian D.O. Anderson

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Paper

Structural Persistence of Three Dimensional Autonomous Formations

In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 0ICINCO, 47-55, 2005 , Barcelona, Spain

Authors: Changbin Yu ¹ ; Julien M. Hendrickx ² ; Barıș Fidan ¹ and Brian D.O. Anderson ¹

Affiliations: ¹ Australian National University, Australia ; ² Université Catholique de Louvain, Belgium

Abstract: Built upon a recently developed theoretical framework, we consider some practical issues raised in multi-agent formation control in three dimensional space. We introduce the partial equilibrium problem, which is associated with unsafe control of a formation in practical 3-dimensional applications. We define structurally persistent graphs, a class of persistent graphs free of any partial equilibrium problem. In real deployment of control of multi-agent systems, formations with underlying structurally persistent graphs are of interest. We study the connections between the allocation of degrees of freedom (DOFs) across agents and the characteristics of persistence and/or structural persistence of a directed graph. We also show how to transfer degrees of freedom between agents, when the formation changes with new agent(s) added, to preserve persistence and/or structural persistence.

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Paper citation in several formats:

Yu, C.; M. Hendrickx, J.; Fidan, B. and D.O. Anderson, B. (2005). Structural Persistence of Three Dimensional Autonomous Formations. In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS; ISBN 972-8865-34-1, SciTePress, pages 47-55. DOI: 10.5220/0001194600470055

@conference{mars05,
author={Changbin Yu. and Julien {M. Hendrickx}. and Barıș Fidan. and Brian {D.O. Anderson}.},
title={Structural Persistence of Three Dimensional Autonomous Formations},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS},
year={2005},
pages={47-55},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001194600470055},
isbn={972-8865-34-1},
}

TY - CONF

JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS
TI - Structural Persistence of Three Dimensional Autonomous Formations
SN - 972-8865-34-1
AU - Yu, C.
AU - M. Hendrickx, J.
AU - Fidan, B.
AU - D.O. Anderson, B.
PY - 2005
SP - 47
EP - 55
DO - 10.5220/0001194600470055
PB - SciTePress