Leader-to-formation stability

IEEE Transactions on Robotics and Automation, 2004

298 citations recorded by the source corpus.

The paper investigates the stability properties of mobile agent formations which are based on leader following. We derive nonlinear gain estimates that capture how leader behavior affects the interconnection errors observed in the formation. Leader-to-formation stability (LFS) gains quantify error amplification, relate interconnection topology to stability and performance, and offer safety bounds for different formation topologies. Analysis based on the LFS gains provides insight to error propagation and suggests ways to improve the safety, robustness, and performance characteristics of a formation.

Subfields: Computer Networks and Communications, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/2f4091e85b05a9f2c682d24b068dd2fd50b25948

Citations in the corpus

String Stability and a Delay-Based Spacing Policy for Vehicle Platoons Subject to Disturbances (2017, unknown): “It extends the notion of leader-to-formation stability in [39] to platoons with external disturbances that are not limited to the leader.”
Consensus and Cooperation in Networked Multi-Agent Systems (2007, unknown): “distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88 , 48, 96, 20], optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Baye”
Containment Control in Mobile Networks (2008, unknown): “We approach this problem from a leader-follower point-of-view [1]–[3].”
Cooperative Constrained Control of Distributed Agents With Nonlinear Dynamics and Delayed Information Exchange: A Stabilizing Receding-Horizon Approach (2008, unknown): “In [24] and [25], the concept of leader to formation stability is developed.”
Coordination and Consensus of Networked Agents with Noisy Measurements: Stochastic Algorithms and Asymptotic Behavior (2009, unknown): “Now we apply the stochastic Lyapunov function approach to the scenario of leader following [23, 44].”
Decentralized, Adaptive Coverage Control for Networked Robots (2009, unknown): “1 Relation to Previous Work Multi-agent coordination problems have enjoyed a flurry of research activity in recent years ( [1, 10, 27] to name only a few).”
On the controllability of nearest neighbor interconnections (2004, unknown): “The role of the interconnection topology on information flow and formation stability was investigated in a number of papers [10], [11], [12].”
Notes on averaging over acyclic digraphs and discrete coverage control (2006, unknown): “Acyclic di-graphs are widely studied in the computer science and distributed signal processing literature, and are used to describe the interactions of agents in leader-following formation problems, e.g., (Tanner et al., 2004; Fax and Murray, 2004).”
Formation control: a review and a new consideration (2005, unknown): “CONTROLLABILITY ANALYSIS OF FORMATION”
Stable Synchronization of Mechanical System Networks (2008, unknown): “In [22] the authors consider stability of a group with dynamics that satisfy a leader-to-formation stability (LFS) condition based on input-to-state stability [20].”
Formation Control and Collision Avoidance for Multi-agent Non-holonomic Systems: Theory and Experiments (2008, unknown): “The leader–follower approach of Tanner et al. (2004) defines a hierarchy between the agents where one or more leaders drive the configuration scheme generating commands, while the followers follow the commands generated by the leaders.”
Optimal Multirobot Path Planning on Graphs: Complete Algorithms and Effective Heuristics (2015, unknown): “…Rodriguez and Amato (2010), formation control Balch and Arkin (1998); Poduri and Sukhatme (2004); Shucker et al. (2007); Smith et al. (2009); Tanner et al. (2004), localization Fox et al. (2000), micro droplet manipulation Ding et al. (2001); Grifﬁth and Akella (2005), object…”