Leader-to-Formation Stability
Degree type
Discipline
Subject
Engineering
Mechanical Engineering
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Contributor
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 ampli£cation, 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.
Advisor
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Publication date
Journal title
Volume number
Issue number
Publisher
Publisher DOI
Comments
Suggested Citation: Tanner, Herbert G., George J. Pappas and Vijay Kumar. (2004). Leader-to-Formation Stability. IEEE Transactions on Robotics. Vol. 20(3). p. 443-455. ©2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.