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

Authors:
Brian S. Smith;Magnus Egerstedt;Ayanna Howard
Affiliations:
School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA
Venue:
Mobile Networks and Applications
Year:
2009

Citing 5
Cited 5

An algorithm for two-dimensional rigidity percolation: the pebble game

Journal of Computational Physics
Nonlinear formation control of unicycle-type mobile robots

Robotics and Autonomous Systems
Distributed shape control of homogeneous swarms of autonomous underwater vehicles

Autonomous Robots
Multi-robot coalition formation

IEEE Transactions on Robotics
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness

IEEE Transactions on Robotics

Automatic formation deployment of decentralized heterogeneous multi-robot networks with limited sensing capabilities

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Adaptive multi-robot team reconfiguration using a policy-reuse reinforcement learning approach

AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
Fast distributed consensus seeking in large-scale sensor networks via shortcuts

International Journal of Computational Science and Engineering
Effects of Multi-Robot Team Formations on Distributed Area Coverage

International Journal of Swarm Intelligence Research
Topology control based on optimally rigid graph in wireless sensor networks

Computer Networks: The International Journal of Computer and Telecommunications Networking

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper we present a collection of graph-based methods for determining if a team of mobile robots, subjected to sensor and communication range constraints, can persistently achieve a specified formation. What we mean by this is that the formation, once achieved, will be preserved by the direct maintenance of the smallest subset of all possible pairwise inter-agent distances. In this context, formations are defined by sets of points separated by distances corresponding 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. Experimental results are presented that illustrate the operation of the proposed methods on real robot platforms.