Graph Laplacians and Stabilization of Vehicle Formations

Fax, J. Alexander and Murray, Richard M. (2001) Graph Laplacians and Stabilization of Vehicle Formations. Technical Report. California Institute of Technology. [CaltechCDSTR:2001.01-007]

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Abstract

Control of vehicle formations has emerged as a topic of significant interest to the controls community. In this paper, we merge tools from graph theory and control theory to derive stability criteria for formation stabilization. The interconnection between vehicles (i.e., which vehicles are sensed by other vehicles) is modeled as a graph, and the eigenvalues of the Laplacian matrix of the graph are used in stating a Nyquist-like stability criterion for vehicle formations. The location of the Laplacian eigenvalues can be correlated to the graph structure, and therefore used to identify desirable and undesirable formation interconnection topologies.

EPrint Type:	Monograph (Technical Report)
Subjects:	All Records
ID Code:	2
Deposited By:	Richard M. Murray
Deposited On:	23 September 2002
Unique Identifier:	CaltechCDSTR:2001.01-007
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:2001.01-007
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

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