Operations on Rigid Formations of Autonomous Agents
Operations on Rigid Formations of Autonomous Agents
复制标题
DOI：
10.4310/cis.2003.v3.n4.a2
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
B. Anderson;P. Belhumeur;T. Eren;A. Morse;W. Whiteley
中科院分区：
文献类型：
--
作者：
B. Anderson;P. Belhumeur;T. Eren;A. Morse;W. Whiteley
本文研究了移动的Au-单原子的刚性构形的保持问题。未来所有多智能体系统的一个关键要素将是传感器和通信网络作为协调的一个组成部分的作用。网络拓扑结构对于涉及移动的水下、地面和空中车辆的自治系统以及传感器网络至关重要。本文着重于开发技术和战略的分析和设计的传感器和网络拓扑结构，以实现一个刚性的形成合作任务。能量效率和通信带宽在移动的自治代理的形成中是至关重要的，因此有效利用功率和能量的策略是有益的。因此，我们开发的拓扑结构，提供传感和通信的最小数量的链接，并提出了方法，要求在动态的miss-sions和机动，包括代理离开刚性形成，分裂刚性形成和合并刚性子形成的链接集的最小数量的变化。要做到这一点，在一个系统的方式，有必要开发一个框架，用于建模代理的形成，其特征在于需要保持地层的传感和通信链路。面临的挑战是，一个全面的理论，这种拓扑结构的形成与传感和通信的限制是在最早的发展阶段。这些技术和策略的发展的核心将是使用刚性理论和图论的工具。
This paper is concerned with the maintenance of rigid formations of mobile au- tonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication networks as an integral part of coordination. Network topologies are critically im- portant for autonomous systems involving mobile underwater, ground and air vehicles and for sensor networks. This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to achieve a rigid formation for cooperative tasks. Energy ef- ficiency and communication bandwidth are critically important in formations of mobile autonomous agents, and hence strategies that make efficient use of power and energy are beneficial. Therefore, we develop topologies for providing sensing and communications with the minimum number of links, and propose methods requiring the minimum number of changes in the set of links in dynamic mis- sions and maneuvers, including agent departure from a rigid formation, splitting a rigid formation and merging rigid sub-formations. To do this in a systematic manner, it is necessary to develop a framework for modeling agent formations that characterizes the sensing and communication links needed to maintain the formations. The challenge is that a comprehensive theory of such topologies of formations with sensing and communication limitations is in the earliest stage of development. Central to the development of these techniques and strategies will be the use of tools from rigidity theory, and graph theory.