Control and information architectures for formations
Brian D. O. Anderson, Changbin Brad Yu, Barış Fi̇dan, Julien M. Hendrickx · 2006
This paper reviews a number of concepts and results relevant to the design of architectures to maintain the shape of a formation of autonomous agents. The paper begins with motivating examples from nature and the manmade world, and emphasises the task of providing satisfactory sensing, communication and control architectures within a formation of autonomous agents. Then some technical tools for characterising and designing architectures are described, largely resting on graph theoretic considerations.