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Leader-to-Formation Stability
Departmental Papers (ESE)
  • Herbert G. Tanner, University of New Mexico
  • George J Pappas, University of Pennsylvania
  • R. Vijay Kumar, University of Pennsylvania
The paper investigates the stability properties of mobile agent formations which are based on leader following. We derive nonlinear gain estimates that capture how leader behavior affects the interconnection errors observed in the formation. Leader-to-formation stability (LFS) gains quantify error amplification, relate interconnection topology to stability and performance, and offer safety bounds for different formation topologies. Analysis based on the LFS gains provides insight to error propagation and suggests ways to improve the safety, robustness, and performance characteristics of a formation.
Document Type
Journal Article
Date of this Version
Copyright 2004 IEEE. Reprinted from IEEE Transactions on Robotics and Automation, Volume 20, Issue 3, June 2004, pages 443-455.
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  • formation stability,
  • graph theory,
  • input-to-state stability,
  • interconnected systems
Citation Information
Herbert G. Tanner, George J Pappas and R. Vijay Kumar. "Leader-to-Formation Stability" (2004)
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