In the Proceedings of International Federation of Automatic Control (IFAC) World Congress, Barcelona, Spain 2002 A FRAMEWORK FOR MAINTAINING FORMATIONS BASED ON RIGIDITY
نویسندگان
چکیده
In this paper, a framework for maintaining formations of large number of mobile autonomous vehicles based on rigidity is proposed. The aim of this paper is to explore strategies for maintaining formations with more limited communication/sensing requirements. An inductive construction method for provably rigid formations is proposed, and a method for optimum angle measures between vehicles is developed. The method scales with the number of vehicles and is flexible to support many rigid formation shapes. Copyright c ©2002 IFAC
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