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Leader-to-Formation Stability
Open accessAbstract
The paper investigates the stability properties of mobile agent formations which are based on leader following. We derive nonlinear gain estimates that capture how leader behavior affects the interconnection errors observed in the formation. Leader-to-formation stability (LFS) gains quantify error amplification, relate interconnection topology to stability and performance, and offer safety bounds for different formation topologies. Analysis based on the LFS gains provides insight to error propagation and suggests ways to improve the safety, robustness, and performance characteristics of a formation.
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Citations
Cited by
Consensus and Cooperation in Networked Multi-Agent Systems
Olfati-Saber, R., Fax, J. A., & Murray, R. M. (2007) · Proceedings of the IEEE · doi:10.1109/jproc.2006.887293 · Cited by 10,522
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Bullo, F., Cortés, J., & Martínez, S. (2009) · Princeton University Press eBooks · doi:10.1515/9781400831470 · Cited by 1,509
Decentralized, Adaptive Coverage Control for Networked Robots
Schwager, M., Rus, D., & Slotine, J.-J. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364908100177 · Cited by 455
Passivity-Based Control of Multi-Agent Systems
Chopra, N., & Spong, M. W. (2007) · Advances in Robot Control · doi:10.1007/978-3-540-37347-6_6 · Cited by 413
Formation control: a review and a new consideration
Chen, Y. Q., & Wang, Z. (2005) · 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2005.1545539 · Cited by 397
Metadata
- Authors
- Tanner, H. G., Pappas, G. J., & Kumar, V.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2004-06
- Volume
- 20
- Issue
- 3
- Pages
- 443-455
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2139369541
- Cited by
- 775
- References
- 0
- FWCI
- 55.77
- Type
- journal article
- Language
- en
- Open access
- green
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- Tanner, H. G., Pappas, G. J., & Kumar, V. (2004). Leader-to-Formation Stability. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/tra.2004.825275
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Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
