Leader-to-Formation Stability | RDL Research Database

Abstract

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.

Keywords

InterconnectionRobustness (evolution)Network topologyStability (learning theory)Computer scienceTopology (electrical circuits)Nonlinear systemDistributed computingControl theory (sociology)EngineeringComputer networkArtificial intelligencePhysicsMachine learning

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Publication Info

Year: 2004
Type: article
Volume: 20
Issue: 3
Pages: 443-455
Citations: 772
Access: Closed

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APA Style

                            
                                    Herbert G. Tanner, 
                                
                                    George J. Pappas, 
                                
                                    Vijay Kumar
                                
                            (2004). 
                            Leader-to-Formation Stability. 
                            IEEE Transactions on Robotics and Automation
                            , 20
                            (3)
                            , 443-455.
                            https://doi.org/10.1109/tra.2004.825275

Identifiers

DOI: 10.1109/tra.2004.825275