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 de...

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 de...

Groups of individuals often use formations as a means of providing orderly movement while distributing members in a manner that is advantageous to the group’s activities. A particular formation may offer a defensive advantage over moving individually, for example, exposing only some of the agents to the proximity of enemies, or might increase group abilities by allowing individuals to limit per...

Zhu, Guangwei Ph.D., Purdue University, May 2013. Quantitative Analysis of MultiAgent Formations: Theory and Applications. Major Professor: Jianghai Hu. In this thesis, formations of multi-agent systems, including multi-vehicle systems and sensor networks, are studied from a quantitative perspective. First, matrix and scalar valued quantities related to multi-agent system formations are propose...

We describe the two classes of languages recognized by the groups D4 and Q8, respectively. Then we show that the formations of languages generated by these two classes are the same. We also prove that these two formations are closed under inverses of morphisms, which yields a language theoretic proof of the fact that the group formations generated by D4 and Q8, respectively, are two equal varie...

We present a novel approach for locally guiding a group of agents amidst static and dynamic obstacles using the concept of prioritized formations. Our approach plans over a joint formation-velocity space employing a Bayesian scheme for evaluating the priority values of formations and a collision avoidance algorithm that accounts for the anisotropic nature of rotating formations. It guarantees c...

One of the most important subjects in relation of water resources quality in the many of river is the chemical composition of waters and conservation of water quality in the watershed. Geological formations in any region of the earth are the main surface and foundation that water flows on the bed and strata of formation, which in fact they affect their characteristics on water quality as positi...

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.

Given a large number (the “flock”) of moving physical objects, we investigate physically reasonable mechanisms of influencing their orbits in such a way that they move along a prescribed course and in a prescribed and fixed configuration (or “in formation”). Each agent is programmed to see the position and velocity of a certain number of others. This flow of information from one agent to anothe...