Merging Multiple Formations: A Meta-Formation Prospective
(2006) CDC 2006 — Location: San Diego, CA, USA (13.December.2006)
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- Authors
- Abstract
- This paper considers the problem of merging of more than two (minimally) rigid formations which do not have any common agent to obtain a single (minimally) rigid formation in <2 and <3. Following previously developed strategies for sequential merging of two rigid formations, a new set of enhanced merging operations is developed. They can be performed in a formalized meta-formation framework, where the individual rigid formations are considered as metavertices and they can be merged into a meta-formation. These operations for growing meta-formations offer a level of control to the merging quality and optimality, in the sense of minimizing the number of meta-edges (that is, edges between different meta-vertices) required. It is also proved that all minimally rigid meta-formations in <2 can be obtained by successively merging two or more meta-vertices using the proposed set of meta-operations.
- Affiliations
Australian National University Research School of Engineering
Citations
Yu, C., Fidan, B., Hendrickx, J., & Anderson, B. D. O. (2006). Merging Multiple Formations: A Meta-Formation Prospective. Proceedings of the 45th IEEE Conference on Decision & Control, 4657-4663. https://hdl.handle.net/2078.5/223219