Graph theoretic methods in the stability of vehicle formations


This paper investigates the stabilization of vehicle formations using techniques from algebraic graph theory. The vehicles exchange information according to a pre-specified (undirected) communication graph, G. The feedback control is based only on relative information about vehicle states shared via the communication links. We prove that a linear… (More)


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@article{Lafferriere2004GraphTM, title={Graph theoretic methods in the stability of vehicle formations}, author={Gerardo Lafferriere and J. B. O. Caughman and A. Williams}, journal={Proceedings of the 2004 American Control Conference}, year={2004}, volume={4}, pages={3729-3734 vol.4} }