Weighted Bearing-Compass Dynamics: Edge and Leader Selection
Eric Schoof, Airlie Chapman, Mehran Mesbahi
IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING | IEEE COMPUTER SOC | Published : 2018
This paper considers the design and effective interfaces of a distributed robotic formation running planar weighted bearing-compass dynamics. We present results that support methodologies to construct formation topologies using submodular optimization techniques. Further, a convex optimization framework is developed for the selection of edge weights which increase performance. We explore a method to select leader agents that can translate and scale the formation, and a corresponding controller that promotes the formation keeping its overall shape intact during manipulation. The results are supported with examples that illustrate the approach and their differing levels of performance.
Awarded by ARO
Awarded by AFOSR
The research of the authors has been supported by ARO grant W911NF-13-1-0340 and AFOSR grant FA9550-16-1-0022.