Leader-to-formation stability Export

@article{Tanner_04, abstract = {The paper investigates the stability properties of mobile agent formations which are based on leader following. We derive nonlinear gain estimates that capture how leader behavior affects the interconnection errors observed in the formation. Leader-to-formation stability (LFS) gains quantify error amplification, relate interconnection topology to stability and performance, and offer safety bounds for different formation topologies. Analysis based on the LFS gains provides insight to error propagation and suggests ways to improve the safety, robustness, and performance characteristics of a formation.}, author = {Tanner, H. G. and Pappas, G. J. and Kumar, V.}, booktitle = {Robotics and Automation, IEEE Transactions on}, citeulike-article-id = {1943873}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/TRA.2004.825275}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1303690}, doi = {10.1109/TRA.2004.825275}, journal = {Robotics and Automation, IEEE Transactions on}, keywords = {consensus, leader\_follower, stability}, number = {3}, pages = {443--455}, posted-at = {2009-07-25 21:05:43}, priority = {2}, title = {Leader-to-formation stability}, url = {http://dx.doi.org/10.1109/TRA.2004.825275}, volume = {20}, year = {2004} }

TY - JOUR ID - Tanner_04 L3 - citeulike-article-id:1943873 N2 - The paper investigates the stability properties of mobile agent formations which are based on leader following. We derive nonlinear gain estimates that capture how leader behavior affects the interconnection errors observed in the formation. Leader-to-formation stability (LFS) gains quantify error amplification, relate interconnection topology to stability and performance, and offer safety bounds for different formation topologies. Analysis based on the LFS gains provides insight to error propagation and suggests ways to improve the safety, robustness, and performance characteristics of a formation. IS - 3 JF - Robotics and Automation, IEEE Transactions on EP - 455 TI - Leader-to-formation stability VL - 20 T2 - Robotics and Automation, IEEE Transactions on SP - 443 KW - consensus KW - leader_follower KW - stability AU - Tanner, HG AU - Pappas, GJ AU - Kumar, V PY - 2004/// UR - http://dx.doi.org/10.1109/TRA.2004.825275 ER -