Article (Scientific journals)
Stabilization of Planar Collective Motion With Limited Communication
Sepulchre, Rodolphe; Paley, Derek; Leonard, Naomi E.
2008In IEEE Transactions on Automatic Control, 53 (3), p. 706-719
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Keywords :
cooperative control; geometric control; multiagent systems; stabilization
Abstract :
[en] This paper proposes a designmethodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around the same circle. Particles exchange relative information according to a communication graph that can be undirected or directed and time-invariant or timevarying. The emphasis of this paper is to show how previous results assuming all-to-all communication can be extended to a general communication framework.
Disciplines :
Computer science
Author, co-author :
Sepulchre, Rodolphe ;  Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation
Paley, Derek
Leonard, Naomi E.;  Princeton University USA
Language :
English
Title :
Stabilization of Planar Collective Motion With Limited Communication
Publication date :
April 2008
Journal title :
IEEE Transactions on Automatic Control
ISSN :
0018-9286
Publisher :
IEEE, Piscataway, United States - New Jersey
Volume :
53
Issue :
3
Pages :
706-719
Peer reviewed :
Peer Reviewed verified by ORBi
Available on ORBi :
since 16 November 2010

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