TY - GEN
T1 - Connectivity control on Lie groups
AU - Satici, Aykut C.
AU - Spong, Mark W.
PY - 2013
Y1 - 2013
N2 - The preservation of connectivity in networks is critical to the success of existing algorithms designed to achieve various goals. Control laws increasing the connectivity of a given state-dependent graph have been formulated for agents evolving on the Euclidean space. In this paper, we show that similar control laws can be adapted to more general spaces. In particular, we consider agents whose configuration space is represented by a Lie group. In addition, we will require the resulting control law to be symmetric with respect to the natural group action, with the intention that additional controllers for the group action may be implemented on top of the connectivity controllers.
AB - The preservation of connectivity in networks is critical to the success of existing algorithms designed to achieve various goals. Control laws increasing the connectivity of a given state-dependent graph have been formulated for agents evolving on the Euclidean space. In this paper, we show that similar control laws can be adapted to more general spaces. In particular, we consider agents whose configuration space is represented by a Lie group. In addition, we will require the resulting control law to be symmetric with respect to the natural group action, with the intention that additional controllers for the group action may be implemented on top of the connectivity controllers.
UR - http://www.scopus.com/inward/record.url?scp=84886533462&partnerID=8YFLogxK
U2 - 10.1109/ASCC.2013.6606252
DO - 10.1109/ASCC.2013.6606252
M3 - Conference contribution
AN - SCOPUS:84886533462
SN - 9781467357692
T3 - 2013 9th Asian Control Conference, ASCC 2013
BT - 2013 9th Asian Control Conference, ASCC 2013
T2 - 2013 9th Asian Control Conference, ASCC 2013
Y2 - 23 June 2013 through 26 June 2013
ER -