Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Global formation-shape stabilization of relative sensing
networks
J. Cortés
Proceedings of the American Control Conference, St. Louis, Missouri, 2009, pp. 1460-1465
Abstract
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.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
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cortes at ucsd.edu
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