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Formation control of multi-agent systems: a graph rigidity approach

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Publisher:
John Wiley & Sons,
Pub. Date:
2019.
Language:
English
Description

Formation Control of Multi-Agent Systems: A Graph Rigidity Approach

Marcio de Queiroz, Louisiana State University, USA

Xiaoyu Cai, FARO Technologies, USA

Matthew Feemster, U.S. Naval Academy, USA

A comprehensive guide to formation control of multi-agent systems using rigid graph theory

This book is the first to provide a comprehensive and unified treatment of the subject of graph rigidity-based formation control of multi-agent systems. Such systems are relevant to a variety of emerging engineering applications, including unmanned robotic vehicles and mobile sensor networks. Graph theory, and rigid graphs in particular, provides a natural tool for describing the multi-agent formation shape as well as the inter-agent sensing, communication, and control topology.

Beginning with an introduction to rigid graph theory, the contents of the book are organized by the agent dynamic model (single integrator, double integrator, and mechanical dynamics) and by the type of formation problem (formation acquisition, formation manoeuvring, and target interception). The book presents the material in ascending level of difficulty and in a self-contained manner; thus, facilitating reader understanding.

Key features:

Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems. Considers different agent models and formation control problems. Control designs throughout the book progressively build upon each other. Provides a primer on rigid graph theory. Combines theory, computer simulations, and experimental results.

Formation Control of Multi-Agent Systems: A Graph Rigidity Approach is targeted at researchers and graduate students in the areas of control systems and robotics. Prerequisite knowledge includes linear algebra, matrix theory, control systems, and nonlinear systems.

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Grouped Work IDf60aed0f-ac95-fc3f-f35b-a6cc6bd80ae7
Grouping Titleformation control of multi agent systems a graph rigidity approach
Grouping Authorqueiroz marcio s de
Grouping Categorybook
Last Grouping Update2020-01-07 04:11:42AM
Last Indexed2020-08-04 04:23:36AM

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external_econtent:ils:a1675512eBookeBookEnglishJohn Wiley & Sons, 2019.1 online resource (1 volume) : illustrations.
ils:a1675512BookBooksEnglishJohn Wiley & Sons, 2019.1 online resource (1 volume) : illustrations.
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seriesWiley series in dynamics and control of electromechanical systems
series_with_volumeWiley series in dynamics and control of electromechanical systems|
subject_facetAutomatic control -- Mathematical models
Electronic books
Formation control (Machine theory)
Graph theory
Multiagent systems
Rigidity (Geometry)
Robotics -- Mathematical models
title_displayFormation control of multi-agent systems : a graph rigidity approach
title_fullFormation control of multi-agent systems : a graph rigidity approach / Marcio de Queiroz, Xiaoyu Cai, Matthew Feemster
title_shortFormation control of multi-agent systems
title_suba graph rigidity approach
topic_facetAutomatic control
Formation control (Machine theory)
Graph theory
Mathematical models
Multiagent systems
Rigidity (Geometry)
Robotics