Lateral and longitudinal stability for decentralized formation control – all 6 versions »
DJ Naffin, M Akar, GS Sukhatme – Proceedings of the International Symposium on Distributed Autonomous Robotic Systems Distributed …, 2004 – Springer
- Swaroop and Hedrick [11] are often cited as the _rst to give formal de_nitions for string stable, exponentially string stable and lp string stable. (D. Swarrop and J. K. Hedrick. String stability of interconnected systems. IEEE Transactions on Automatic Control, 41(3):349{357, March 1996.)
- Canudas de Wit and Brogliato [2] provided a detailed overview of string stability and how various control polices and inter-vehicle spacing strategies a_ect string stability. Carlos Canudas de Wit and Bernard Brogliato. Stability issues for vehicle platooning in automated highway systems. In Proceedings of the IEEE International Conference on Control Applications, (Hawaii USA), pages 1377{1382, August 1999.
- Mesh stability is a property of interconnected systems whereby a disturbance is attenuated as it propagates from one subsystem to the next. For the one-dimensional case, this property is refereed to as string stability.
- Note this paper has an equation defining string stability
- our approach to formations require that the members of the platoons hold various bearings.
- Since all robots in a platoon must maintain the same heading as its platoon leader, it is assumed that this information is communicated to each robot in the platoon and that each robot has the ability to sense its global heading (via a compass, inertia measurements, etc.).
- they used USC’s Player robot server and the Gazebo simulator
- we have shown that linear bidirectional controller can be used to maintain platoons of robots and reject disturbances that may be introduced
- checkm???
NB Transfer Function tutorial for Matlab: http://www.me.cmu.edu/ctms/modeling/tutorial/transferfunction/mainframes.htm
[PDF] Vision-Based, Distributed Coordination of Multi-Agent Systems
N Moshtagh, A Jadbabaie, K Daniilidis – IEEE Conference on Robotics and Automation (submitted), …, 2005 – seas.upenn.edu
- T. Vicsek, A. Czirok, E. Ben Jacob, I. Cohen, and O. Schochet. Novel type of phase transitions in a system of self-driven particles. Physical Review Letters, 75:1226–1229, 1995.
- Many of the existing vision-based distributed control strategies assume that the robots are capable of communicating to their neighbors an estimation of their position [27], [34], [35]
- graph theory book: C. Godsil and G. Royle. Algebraic Graph Theory. Springer Graduate Texts in Mathematics # 207, New York, 2001.
- We provided a coordination scheme which results in flocking of all agents using nearest neighbor sensing, without the need for explicit communication between agents. The coordination scheme uses the relative bearings between each agent and its nearest neighbors, as well as time-to collision between neighboring agents. The resulting control law is reminiscent of the Kuramoto model of coupled nonlinear oscillators. So far we have analyzed flocking for a group of mobile agents in 2 dimensions.
