Global and robust formation-shape stabilization of relative sensing networks |
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Authors: | Jorge Cortés [Author vitae] |
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Affiliation: | Department of Mechanical and Aerospace Engineering, University of California, 9500 Gilman Drive, San Diego, United States |
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Abstract: | This paper proposes a simple, distributed algorithm that achieves global stabilization of formations for relative sensing networks in arbitrary dimensions with fixed topology. Assuming the network runs an initialization procedure to equally orient all agent reference frames, convergence to the desired formation shape is guaranteed even in partially asynchronous settings. We characterize the algorithm robustness against several sources of errors: link failures, measurement errors, and frame initialization errors. The technical approach combines algebraic graph theory, multidimensional scaling, and distributed linear iterations. |
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Keywords: | Multi-agent systems Distributed algorithms Formation control Multidimensional scaling Linear iterations |
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