Most often, autonomous robots maintain group formations by using global information such as the position of the group leader or even the position of all robots inside the formation. Alternative approaches to autonomous robot formations have considered local information, which is more realistic but presents some drawbacks such as troop deformation. In this paper we perform a step forward in loca...

Even since pioneering work of Levine and Athans and Melzer and Kuo, control of vehicular formations has been a topic of active research. In spite of its apparent simplicity, this problem poses significant engineering challenges, and it has often inspired theoretical developments. In this article, we view vehicular formations as a particular instance of dynamical systems over networks and summar...

In this paper, a systematic way of maintaining rigidity in case of vehicle removals in formations for coordinating mobile autonomous vehicles with limited communication/sensing links is presented. The main concern is the minimal rearrangement of links in such a way that the links that have not been removed are preserved as they are, and the minimum number of new links are created in the formati...

This paper examines the problem of relative attitude observability for formations of three, four and five vehicle formations. The analysis is rooted in within the principles of maximum likelihood estimation insomuch as the metric for observability is the resulting Fisher information matrix for the small attitude errors. For formations of three and four vehicles it is shown that the relative att...

Simulating fluid flow in geological formations requires mesh generation, lithology mapping to the cells, and computing geometric properties such as normal vectors and volume of cells. The purpose of this research work is to compute and process the geometrical information required for performing numerical simulations in geological formations. We present algebraic techniques, named Transfinite In...

ADSlraCI: 1rns paper aoaresses roDUSIcomroi OJ mumpre mobile robots moving in desired formations. A rigorous control technique for such an agent-based robotic system may encounter problems of singularity, parameter sensitivity and inter-robot collision. Our proposed approach focuses on the enhancement of robustness as well as collision-free establishment of formations even in the case of singul...