Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Characterizing robust coordination algorithms via proximity graphs and set-valued maps
J. Cortés
Proceedings of the American Control Conference, Minneapolis, Minnesota, USA, 2006, pp. 8-13
Abstract
This note studies correctness and robustness properties of motion
coordination algorithms with respect to link failures in the network
topology. The technical approach relies on computational geometric
tools such as proximity graphs, nondeterministic systems defined via
set-valued maps and Lyapunov stability analysis. The manuscript
provides two general results to help characterize the asymptotic
behavior of spatially distributed coordination algorithms. These
results are illustrated in rendezvous and flocking coordination
algorithms.
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Mechanical and Aerospace Engineering,
University of California, San Diego
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cortes at ucsd.edu
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