• Publications
  • Influence
Flocking in Fixed and Switching Networks
TLDR
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
  • 1,341
  • 38
  • PDF
On the controllability of nearest neighbor interconnections
  • H. Tanner
  • Computer Science
  • 43rd IEEE Conference on Decision and Control (CDC…
  • 2004
TLDR
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
  • 406
  • 33
  • PDF
Stable flocking of mobile agents, part I: fixed topology
TLDR
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
  • 743
  • 27
  • PDF
Stable flocking of mobile agents part I: dynamic topology
TLDR
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
  • 602
  • 22
  • PDF
Tier-based Strictly Local Constraints for Phonology
TLDR
This paper defines a class of formal languages, the Tier-based Strictly Local languages, which begin to describe such phenomena. Expand
  • 106
  • 21
  • PDF
Leader-to-formation stability
TLDR
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
  • 746
  • 19
  • PDF
Towards Decentralization of Multi-robot Navigation Functions
  • H. Tanner, A. Kumar
  • Engineering, Computer Science
  • Proceedings of the IEEE International Conference…
  • 18 April 2005
TLDR
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
  • 145
  • 12
  • PDF
Hybrid Control for Connectivity Preserving Flocking
TLDR
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
  • 192
  • 8
  • PDF
Formation Stabilization of Multiple Agents Using Decentralized Navigation Functions
TLDR
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
  • 116
  • 7
  • PDF
Nonholonomic navigation and control of cooperating mobile manipulators
TLDR
This paper presents the first motion planning methodology applicable to articulated, nonpoint nonholonomic robots with guaranteed collision avoidance and convergence properties. Expand
  • 308
  • 6
  • PDF
...
1
2
3
4
5
...