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Stability Analysis of Stochastically Varying Formations of Dynamic Agents 
Abstract 
We analyze a network of dynamic agents whe … We analyze a network of dynamic agents where the
topology of the network specifies the information
flow between the agents. We present an analysis
method for such a system for both consensus and
formation stabilization problems. We consider the
case of agent dynamics being a single integrator in
more detail to show the general features introduced
by the information flow. Then we show that the
method of analysis can be extended to more general cases of complicated agent dynamics, nonideal
links for information flow, etc. We also consider the
case when the topology of the network is changing
over time. The focus of the paper is on obtaining
conditions for the stability of the formation that
can be checked in a decentralized way. Some simple examples are also presented. . Some simple examples are also presented. +


Authors  Vijay Gupta, Babak Hassibi, Richard M. Murray + 
ID  2003i + 
Source  2003 Conference on Decision and Control (CDC) + 
Tag  ghm03cdc + 
Title  Stability Analysis of Stochastically Varying Formations of Dynamic Agents + 
Type  Conference Paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:18:40 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/ghm03cdc.pdf + 
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Stability Analysis of Stochastically Varying Formations of Dynamic Agents +  Title 
