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Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints


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In this paper we present a collection of graph-basedmethods for determining if a team of mobile robots, subjectedto sensor and communication range constraints, can persistentlyachieve a specified formation. What we mean by this is thatthe formation, once achieved, will be preserved by the directmaintenance of the smallest subset of all possible pairwise inter-agentdistances. In this context, formations are defined by setsof points separated by distances corresponding to desired inter-agentdistances. Further, we provide graph operations to describeagent interactions that implement a given formation, as well asan algorithm that, given a persistent formation, automaticallygenerates a sequence of such operations. Experimental results arepresented that illustrate the operation of the proposed methodson real robot platforms.



Georgia Robotics and InTelligent Systems Laboratory GRITS - Georgia Robotics and InTelligent Systems Laboratory GRITS Publications -



Autor: Smith, Brian Stephen - Egerstedt, Magnus B. - Howard, Ayanna M. - -

Fuente: https://smartech.gatech.edu/







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