Automatic generation of persistent formations for multi-agent networks under range constraints

Authors:
Brian Smith;Magnus Egerstedt;Ayanna Howard
Affiliations:
School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA
Venue:
Proceedings of the 1st international conference on Robot communication and coordination
Year:
2007

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Abstract

We present graph-based methods for determining if a mobile robot network with a defined sensor and communication range can persistently achieve a specified formation, which implies that the formation, once achieved, will be preserved by the direct maintenance of a subset of inter-agent distances. Here, formations are defined by a set of points whose inter-point distances correspond to desired inter-agent distances. Further, we provide graph operations to describe agent interactions that implement a given formation, as well as an algorithm that, given a persistent formation, automatically generates a sequence of such operations.