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A FRAMEWORK FOR MAINTAINING FORMATIONS BASED ON RIGIDITY
Tolga Eren* Peter N. Belhumeur**
Brian D. O. Anderson*** A. Stephen Morse*
* Department of Electrical Engineering and Computer Science,
Yale University, New Haven, CT 06520 USA
** Department of Computer Science, Columbia University,
New York, NY 10027 USA
*** Department of Systems Engineering, The Australian National
University, Canberra ACT 0200, Australia
In this paper, a framework for maintaining formations of large number of mobile autonomous vehicles based on rigidity is proposed. The aim of this paper is to explore strategies for maintaining formations with more limited communication and sensing requirements. An inductive construction method for provably rigid formations is proposed, and a method for optimum angle measures between vehicles is developed. The method scales with the number of vehicles and is flexible to support many rigid formation shapes.
Keywords: Autonomous Vehicles, Coordination, Geometric Approaches, Graphs, Graph Theory,
Session slot T-Th-E21: Posters of Transportation and Vehicles/Area code 8f : Intelligent Autonomous Vehicles
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