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Consensus problems in networks of agents with switching topology and time-delays
A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
A Mathematical Introduction to Robotic Manipulation
INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in
Consensus and Cooperation in Networked Multi-Agent Systems
This paper provides a theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in
Abstract Vehicles in formation often lack global information regarding the state of all the vehicles, a deficiency which can lead to instability and poor performance. In this paper, we demonstrate
Feedback Systems: An Introduction for Scientists and Engineers
Feedback Systems develops transfer functions through the exponential response of a system, and is accessible across a range of disciplines that utilize feedback in physical, biological, information, and economic systems.
Information flow and cooperative control of vehicle formations
  • J. A. Fax, R. Murray
  • Mathematics, Computer Science
    IEEE Transactions on Automatic Control
  • 13 September 2004
A Nyquist criterion is proved that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability, and a method for decentralized information exchange between vehicles is proposed.
Nonholonomic motion planning: steering using sinusoids
Methods for steering systems with nonholonomic c.onstraints between arbitrary configurations are investigated. Suboptimal trajectories are derived for systems that are not in canonical form. Systems
Nonholonomic mechanical systems with symmetry
This work develops the geometry and dynamics of mechanical systems with nonholonomic constraints and symmetry from the perspective of Lagrangian mechanics and with a view to control-theoretical
Proportional Derivative (PD) Control on the Euclidean Group
In this paper we study the stabilization problem for control systems defined on SE(3) (the special Euclidean group of rigid-body motions) and its subgroups. Assuming one actuator is available for
Consensus protocols for networks of dynamic agents
It turns out that the connectivity of the network is the key in reaching a consensus in networks of dynamic agents, and a tight upper bound is found on the maximum fixed time-delay that can be tolerated in the network.