Leader-to-Formation Stability
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Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
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Mechanical Engineering
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Mechanical Engineering
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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 ampli£cation, 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.
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2004-06-01
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Suggested Citation: Tanner, Herbert G., George J. Pappas and Vijay Kumar. (2004). Leader-to-Formation Stability. IEEE Transactions on Robotics. Vol. 20(3). p. 443-455. ©2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.