Conference Proceedings

Efficient Leader Selection for Translation and Scale of a Bearing-Compass Formation

Eric Schoof, Airlie Chapman, Mehran Mesbahi

2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | IEEE COMPUTER SOC | Published : 2015

Abstract

The paper considers the efficient selection of leader agents in a swarm running a distributed bearing-compass formation controller. The leaders apply external control which induces translation and scaling of the formation, providing manipulation methods useful to a human operator. The selection algorithm for maximizing translation and scale draws from modularity and submodularity theory. Consequently, the algorithms exhibit guaranteed optimal and suboptimal performance, respectively. For more restricted human-swarm interaction requiring pure translation and scale, a relaxed integer programming algorithm is described to reduce the combinatorial optimization problem to a computationally tracta..

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