Characterizing robust coordination algorithms via proximity graphs and set-valued maps

Author

Cortés, Jorge

Author_Institution

Dept. of Appl. Math. & Stat., California Univ., Santa Cruz, CA

fYear

2006

fDate

14-16 June 2006

Abstract

This paper studies correctness and robustness properties of motion coordination algorithms with respect to link failures in the network topology. The technical approach relies on computational geometric tools such as proximity graphs, nondeterministic systems defined via set-valued maps and Lyapunov stability analysis. The manuscript provides two general results to help characterize the asymptotic behavior of spatially distributed coordination algorithms. These results are illustrated in rendezvous and flocking coordination algorithms

Keywords

Lyapunov methods; asymptotic stability; computational geometry; graph theory; multi-agent systems; robust control; Lyapunov stability analysis; computational geometric tool; correctness property; distributed coordination algorithm; link failure; motion coordination algorithm; network topology; nondeterministic system; proximity graph; robust coordination algorithm; robustness property; set-valued map; Algorithm design and analysis; Context; Distributed algorithms; Failure analysis; Lyapunov method; Network topology; Robustness; Sensor phenomena and characterization; Stability analysis; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1655323

Filename

1655323