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Flocking in Fixed and Switching Networks
This note analyzes the stability properties of a group of mobile agents that align their velocity vectors, and stabilize their inter-agent distances, using decentralized, nearest-neighbor interaction rules, exchanging information over networks that change arbitrarily (no dwell time between consecutive switches). Expand
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On the controllability of nearest neighbor interconnections
  • H. Tanner
  • Computer Science
  • 43rd IEEE Conference on Decision and Control (CDC…
  • 2004
In this paper we derive necessary and sufficient conditions for a group of systems interconnected via nearest neighbor rules, to be controllable by one of them acting as a leader. Expand
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Stable flocking of mobile agents, part I: fixed topology
We generate stable flocking motion for a group of autonomous mobile agents using a coordination control scheme which gives rise to smooth control laws for the agents. Expand
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Stable flocking of mobile agents part I: dynamic topology
This is the second of a two-part paper, investigating the stability properties of a system of multiple mobile agents with double integrator dynamics. Expand
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Tier-based Strictly Local Constraints for Phonology
This paper defines a class of formal languages, the Tier-based Strictly Local languages, which begin to describe such phenomena. Expand
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Leader-to-formation stability
Leader-to-formation stability (LFS) gains quantify error amplification, relate interconnection topology to stability and performance, and offer safety bounds for different formation topologies. Expand
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Towards Decentralization of Multi-robot Navigation Functions
  • H. Tanner, A. Kumar
  • Engineering, Computer Science
  • Proceedings of the IEEE International Conference…
  • 18 April 2005
We present a navigation function through which a group of mobile agents can be coordinated to achieve a particular formation, both in terms of shape and orientation, while avoiding collisions between themselves and with obstacles. Expand
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Hybrid Control for Connectivity Preserving Flocking
In this technical note, we address the combined problem of motion and network topology control in a group of mobile agents with common objective the flocking behavior of the group. Expand
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Formation Stabilization of Multiple Agents Using Decentralized Navigation Functions
We develop decentralized cooperative controllers, which are based on local navigation functions and yield (almost) global asymptotic stability of a group of mobile agents to a desired formation and simultaneous collision avoidance. Expand
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Nonholonomic navigation and control of cooperating mobile manipulators
This paper presents the first motion planning methodology applicable to articulated, nonpoint nonholonomic robots with guaranteed collision avoidance and convergence properties. Expand
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