An algorithm for drawing general undirected graphs
Information Processing Letters
Introduction to algorithms
Distributed computing: a locality-sensitive approach
Distributed computing: a locality-sensitive approach
Parallel and Distributed Computation: Numerical Methods
Parallel and Distributed Computation: Numerical Methods
Control of Minimally Persistent Formations in the Plane
SIAM Journal on Control and Optimization
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
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This paper proposes a simple, distributed algorithm that achieves global stabilization of formations for relative sensing networks in arbitrary dimensions. Assuming the network runs an initialization procedure to equally orient all the agent reference frames, convergence to the desired formation shape is guaranteed even in partially asynchronous settings. We also characterize the algorithm robustness to errors in the initialization procedure. The technical approach merges ideas from graph drawing, algebraic graph theory, multidimensional scaling, and distributed linear iterations.