Formations of formations: Hierarchy and stabilit

Anca Williams, Sonja Glavaški, Tariq Samad

Research output: Contribution to journalConference articlepeer-review

45 Scopus citations


In this paper we will 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.

Original languageEnglish (US)
Pages (from-to)2992-2997
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - Nov 29 2004
EventProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
Duration: Jun 30 2004Jul 2 2004


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