Formations of formations: Hierarchy and stability
A Williams, S Glavaski, T Samad - Proceedings of the 2004 …, 2004 - ieeexplore.ieee.org
A Williams, S Glavaski, T Samad
Proceedings of the 2004 American control conference, 2004•ieeexplore.ieee.orgIn this paper, we consider a hierarchy of vehicle formations exchanging information among
themselves with the intention of completing a given mission at pre-specified coordinates in
space. The objective is to understand how the communication infrastructure can be used to
construct a decentralized controller and how it influences the stability of hierarchical vehicle
formations. Our main result is that stability at higher levels of the hierarchy is guaranteed for
certain vehicle communication infrastructures.
themselves with the intention of completing a given mission at pre-specified coordinates in
space. The objective is to understand how the communication infrastructure can be used to
construct a decentralized controller and how it influences the stability of hierarchical vehicle
formations. Our main result is that stability at higher levels of the hierarchy is guaranteed for
certain vehicle communication infrastructures.
In this paper, we consider a hierarchy of vehicle formations exchanging information among themselves with the intention of completing a given mission at pre-specified coordinates in space. The objective is to understand how the communication infrastructure can be used to construct a decentralized controller and how it influences the stability of hierarchical vehicle formations. Our main result is that stability at higher levels of the hierarchy is guaranteed for certain vehicle communication infrastructures.
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