Formations of formations: hierarchy and stability
Anca Williams, Sonja Glavaški, Tarıq Samad · 2004
In this paper, we consider a hierarchy of vehicle formations exchanging information among themselves with the intention of completing a given mission at pre-specified coordinates in space. The objective is to understand how the communication infrastructure can be used to construct a decentralized controller and how it influences the stability of hierarchical vehicle formations. Our main result is that stability at higher levels of the hierarchy is guaranteed for certain vehicle communication infrastructures.