We provide a cooperative control algorithm to stabilize symmetric formations to motion around closed curves suitable for mobile sensor networks. This work extends previous results for stabilization of symmetric circular formations. We study a planar particle model with decentralized steering control subject to limited communication. Because of their unique spectral properties, the Laplacian mat...

COOPERATIVE DATA AND COMPUTATION PARTITIONING FOR DECENTRALIZED ARCHITECTURES

This paper will review a relatively new field of research, namely the area of Cooperative Control. This paper/report will cover many aspects about the field of cooperative control. The paper can be considered as a comprehensive study of many, if not all, related elements of cooperative control. This field studies the interconnections between systems to act collectively towards global objective ...

In this study, a distributed cooperative control law is proposed to attain multi-agent uniform circumnavigation around moving targets. First, we construct a decentralized estimator for each agent to estimate the geometric center of the targets. Then, we develop the distributed control strategy by means of the estimator, which guarantees that the agents preserve the desired distance to the targe...

Achieving tasks with a multiple robot system will require a control system that is both simple and scalable as the number of robots increases. Collective behavior as demonstrated by social insects is a form of decentralized control that may prove useful in controlling multiple robots. Nature's several examples of collective behavior have motivated our approach to controlling a multiple robot sy...

We describe a framework for coordinating multiple robots in cooperative manipulation tasks in which vision is used for establishing relative position and orientation and maintaining formation. The two key contributions are a cooperative scheme for localizing the robots based on visual imagery that is more robust than decentralized localization, and a set of control algorithms that allow the rob...

A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to independently navigate to ensure agents achieve a collective goal while maintaining network connectivity. Specifically, cooperative controllers are developed for n...

This paper addresses the problem of enabling a group of autonomous vehicles to effectively patrol an environment significantly larger than their communication and sensing radii. Our formulation uses an a priori spatial decomposition of the environment into smaller areas in order to provide a framework for the allocation of vehicles to different parts of the environment. We develop a distributed...