Cooperative Control of Multi-Vehicle Systems using Cost Graphs And Optimization (ResearchIndex)

Cooperative Control of Multi-Vehicle Systems using Cost Graphs And Optimization (2003) (Make Corrections)
Reza Olfati-Saber, William B. Dunbar, Richard M. Murray

Home/Search Context Related

View or download:
caltech.edu/~dunbar/html...ACC03sub.pdf
Cached:  PS.gz  PS  PDF  DjVu  Image  Update  Help

From:  caltech.edu/~dunbar/html...papers (more)
Homepages:  R.Murray  [2]  HPSearch  (Update Links)

Rate this article:

(best)
Comment on this article

(Enter summary)
Abstract: In this paper, we introduce a class of triangulated graphs for algebraic representation of formations that allows us to specify a mission cost for a group of vehicles. This representation plus the navigational information allows us to formally specify and solve tracking problems for groups of vehicles in formations using an optimization-based approach. The approach is illustrated using a collection of six underactuated vehicles that track a desired trajectory in formation. (Update)

Active bibliography (related documents): More All
1.3: Leader-to-Formation Stability - Tanner, Pappas, Kumar (Correct)
0.5: Trajectory planning under a Stochastic Uncertainty - Ulf Nsson Optimization (Correct)
0.5: Exploiting Sparsity in Semidefinite Programming via.. - Fukuda, Kojima.. (Correct)

Similar documents based on text: More All
0.7: Submitted as a Regular Paper to the 2003 European.. - Revised December.. (Correct)
0.5: Model predictive control of coordinated multi-vehicle formations - Dunbar, Murray (2002) (Correct)
0.5: Model Predictive Control: Extension to Coordinated Multi-Vehicle.. - Dunbar (2001) (Correct)

BibTeX entry: (Update)

@misc{ olfati-saber-cooperative,
  author = "Reza Olfati-Saber and William B. Dunbar and Richard M. Murray",
  title = "Cooperative Control of Multi-Vehicle Systems using Cost Graphs And Optimization",
  url = "citeseer.nj.nec.com/olfati-saber03cooperative.html" }

Citations (may not include all citations):
219 Primitives for the manipulation of general subdivisions and .. (context) - Gubias, Stolfi - 1985
183 Flocks, herds, and schools: a distributed behavioral model - Reynolds - 1987
21 A Faster Divide--and--Conquer Algorithm for Constructing Del.. (context) - Dwyer - 1987
19 Triangle: Engineering a 2D Quality Mesh Generator and Delaun.. (context) - Shewchuk
13 On graphs and rigidity of plane skeletal structures (context) - Laman - 1970
10 Modeling and control of formations of nonholonomic mobile ro.. (context) - Desai, Ostrowski et al. - 2002
7 A new computational approach to real-time trajectory generat.. - Milam, Mushambi et al. - 2000
6 Formation flying of multiple spacecraft via graphs, matrix i.. (context) - Mesbahi, Hadegh - 2000
5 Graph Rigidity and Distributed Formation Stabilization of Mu.. (context) - Olfati-Saber, Murray - 2002
4 On generic rigidity in the plane (context) - Lovasz, Yemini - 1982
4 Model Predictive Control of Coordinated Multi-Vehicle Format.. - Dunbar, Murray - 2002
3 American Mathematical Society (context) - Graver, Servatius et al. - 1993
3 Formations with a mission: stable coordination of vehicle gr.. (context) - Orgen, Fiorelli et al. - 2002
2 Cuts, matrix completions, and graph rigidity (context) - Laurent - 1997
2 A Decentralized Approach to Formation Maneuvers (context) - Lawton, Beard et al. - 2002
2 Virtual leaders, artificial potentials, and coordinated cont.. (context) - Leonard, Fiorelli - 2001
1 A framework for maintaing formations based on rigidity (context) - Eren, Belhumeur et al. - 2002
1 Distibuted cooperative control of multiple vehicle formation.. (context) - Olfati-Saber, Murray - 2002
1 Interaction with a group of autonomous charachters (context) - Reynolds - 2000

Documents on the same site (http://www.cds.caltech.edu/~dunbar/html_files/papers.html): More
Coulomb and Viscous Friction Fault Detection With - Application To Pneumatic (Correct)
CDC02-REG1035 The Caltech Multi-Vehicle Wireless Testbed - Lars Cremean William (Correct)
Proposed Journal Article - Damage Assessment Of (Correct)

Online articles have much greater impact More about CiteSeer Add search form to your site Submit documents Feedback