# Difference between revisions of "EECI08: Formation Control in Multi-Agent Systems"

From MurrayWiki

Line 2: | Line 2: | ||

{{righttoc}} | {{righttoc}} | ||

+ | We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. | ||

==== Lecture Materials ==== | ==== Lecture Materials ==== | ||

Line 9: | Line 10: | ||

==== Further Reading ==== | ==== Further Reading ==== | ||

+ | * J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004. |

## Revision as of 00:50, 29 March 2008

Prev: Distributed Control | Course home | Next: Distributed Protocols |

We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability.

#### Lecture Materials

- Lecture slides: Cooperative Control

#### Additional Information

#### Further Reading

- J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations",
*IEEE T. Automatic Control*, 49(9):1465-1476, 2004.