Automatic Generation of Persistent Formations for Multi-agent Networks Under Range Constraints |
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Authors: | Brian S Smith Magnus Egerstedt Ayanna Howard |
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Affiliation: | (1) School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA |
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Abstract: | In this paper we present a collection of graph-based methods for determining if a team of mobile robots, subjected to sensor
and communication range constraints, can persistently achieve a specified formation. What we mean by this is that the formation, once achieved, will be preserved by the direct
maintenance of the smallest subset of all possible pairwise inter-agent distances. In this context, formations are defined
by sets of points separated by distances corresponding to desired inter-agent distances. Further, we provide graph operations
to describe agent interactions that implement a given formation, as well as an algorithm that, given a persistent formation,
automatically generates a sequence of such operations. Experimental results are presented that illustrate the operation of
the proposed methods on real robot platforms. |
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Keywords: | multi-agent network formations formation control graph-based control decentralized control persistent graphs rigid graphs graph operations |
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