-- Vijay
Gupta, Babak Hassibi and Richard M. Murray, Proceedings
of the 42nd IEEE Conference on Decision and Control, 2003 (CDC 03).
Volume 1,
9-12 Dec. 2003
Page(s):504 - 509.
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. To consider the general features introduced by
the information flow topology, we consider the case of agent dynamics
being a single integrator. Then we show that the method of analysis can
be extended to more general cases of complicated agent dynamics,
non-ideal 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.
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