This paper is concerned with the maintenance of rigid formations of mobile autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication networks as an integral part of coordination. Network topologies are critically important for autonomous systems involving mobile underwater, ground and air vehicles and for sensor networks. This paper focuses ...

In previous work, we demonstrated an algorithm that treats a group of robots as a 1-dimensional cellular automaton, which is able to establish formations defined by a single mathematical function. We now extend the algorithm to establish grid formations.

The ergastoplasm (granular endoplasmic reticulum) of parotid acinous cells of the mouse is described with special emphasis on unusual forms of this membranous system. In the majority of the acinous cells the ergastoplasm appeared in sections to consist of a large number of separate flattened cisternae. In some acinous cells, however, the ergastoplasm was disposed as a very small number of large...

the rapid growth in natural gas consumption has increased the need for gas storage, in particular in the form of injection into depleted reservoirs. also, co2 sequestration into the depleted reservoirs has attracted a large attention recently. however, it is important to ensure that the injection pressure is maintained below a certain limit to avoid unsealing the cap rock or reactivation of any...

The upper part of Shirgesht (UPS) and lower part of Niur (LPN) formations (Ordovician-Silurian) consist of sandstone, shale and limestone, respectively. The petrography and geochemical analysis conducted to evaluate provenance of siliciclastic deposits in order to understand the paleogeography of Central Iran during the Early Paleozoic time. This study shows that quartz and K-feldspar are the m...

In this paper, we provide a graph theoretical framework that allows us to formally define formations of multiple vehicles and the issues arising in graph realizations and unicity and their connections to stability of formations. The notion of graph rigidity is crucial in identifying the shape variables of a formation. This eventually leads to tools for formation stabilization, tacking, and form...