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Green Version.pdf

fm03-tac.pdf
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🔗 Source: authors.library.caltech.edu
📊 Size: 475 KB
📄 Pages: 35 pages
⬇️ Downloads: 154

Summary

Researchers consider cooperation among vehicles using intervehicle communication, applying graph theory to relate communication network topology to formation stability. They prove a Nyquist criterion using the graph Laplacian matrix's eigenvalues to determine the graph's effect on formation stability and propose a decentralized information exchange method. This approach enables a dynamical system supplying each vehicle with a common reference for cooperative motion, with a separation principle stating that formation stability is achieved if information flow is stable and local controllers stabilize vehicles. The information flow can be made robust to changes in the graph, enabling tight formation control despite limited intervehicle communication.

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Researchers consider cooperation among vehicles using intervehicle communication, applying graph theory to relate communication network topology to formation...

Technical Information

  • File Format: PDF
  • File Size: 475 KB
  • Pages: 35
  • Language: EN
  • Total Downloads: 154
  • Last Updated: 2 hours ago

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