Leader-to-Formation Stability – Tanner, Pappas, Kumar (2003) (Correct) (3 citations)
topological structure with the target system. String stability [21]22]1] and mesh stability [23]the
[21]22]25] have used the notion of string stability in the frequency domain, string stability of
www.seas.upenn.edu/~pappasg/papers/IEEETRA-LFS.pdf
- String stability [21], [22], [1] and mesh stability [23], the latter being the generalization of the former in more than two dimensions
- T. Balch and R. Arkin, “Behavior-based formation control for multirobot systems,” IEEE Transactions on Robotics and Automation, vol. 14, no. 12, 1998.
- Go look at this one in IEEXPLORE: F. Giulietti, L. Pollini, and M. Innocenti, “Autonomous formation flight,” IEEE Control Systems Magazine, vol. 20, no. 6, pp. 34–44, 2000.
- holonomic definition: In robotics holonomicity refers to the relationship between the controllable and total degrees of freedom of a given robot (or part thereof). If the controllable degrees of freedom are greater than or equal to the total degrees of freedom then the robot is said to be holonomic. If the controllable degrees of freedom are less than the total degrees of freedom it is non-holonomic. A robot is considered to be redundant if it has more controllable degrees of freedom than degrees of freedom in its task space. Holonomicity can be used to describe simple objects as well. For example, a car is non-holonomic because although it could physically move laterally, there is no mechanism to control this movement. A human arm, by contrast, is a holonomic, redundant system because it has 7 degrees of freedom (3 in the shoulder – rotations about each axis, 2 in the elbow – bending and rotation about the lower arm axis, and 2 in the wrist, bending up and down, and left and right) and there are only 6 physical degrees of freedom in the task of placing the hand (x, y, z, roll, pitch and yaw), while fixing the 7 degrees of freedom fixes the hand. See also sub-Riemannian geometry for a discussion of holonomic constraints in robotics. (from Wikipedia)
- - okay the maths from this is hairy-looking, but the images on page 8 and 9 discuss formations, which seem pretty useful – particularly the wedge formation
Behavior-based formation control for multirobot teams – all 11 versions »
T Balch, RC Arkin – Robotics and Automation, IEEE Transactions on, 1998 – ieeexplore.ieee.org
… Page 2. BALCH AND ARKIN: BEHAVIOR-BASED FORMATION CONTROL 927 Fig. … Page 4. BALCH
AND ARKIN: BEHAVIOR-BASED FORMATION CONTROL 929 negatively impact performance. …
Vision-based Follow-the-Leader (2003) (Make Corrections) (2 citations)
Noah Cowan, Omid Shakernia, René Vidal, Shankar Sastry
http://citeseer.ist.psu.edu/cowan03visionbased.html
- Vision seems to be a critical component in animals’ abilities to respond their neighbors’ motions so that the entire group maintains a coherent formation.
- Fredslund et al. [10] evaluate a heuristic method for solving the formation control problem using only local sensing.
Formation Control of Nonholonomic Mobile Robots with Omnidirectional Visual Servoing and Motion Segmentation (2003) (Make Corrections) (7 citations)
Rene Vidal, Omid Shakernia, Shankar Sastry
http://citeseer.ist.psu.edu/vidal03formation.html
Distributed Formation Control with Omnidirectional (Make Corrections)
Vision Based Motion Segmentation and Visual Servoing Rene Vidal Omid…
http://citeseer.ist.psu.edu/684309.html
Note to self: orange box packing optimisation / sphere packing
