{"id":1066,"date":"2018-08-22T18:20:45","date_gmt":"2018-08-23T02:20:45","guid":{"rendered":"http:\/\/depts.washington.edu\/uwrainlab\/?page_id=1066"},"modified":"2018-08-22T18:20:51","modified_gmt":"2018-08-23T02:20:51","slug":"efficient-leader-selection-for-translation-and-scale-of-a-bearing-compass-formation","status":"publish","type":"page","link":"http:\/\/depts.washington.edu\/uwrainlab\/efficient-leader-selection-for-translation-and-scale-of-a-bearing-compass-formation\/","title":{"rendered":"Efficient Leader Selection for Translation and Scale of a Bearing-Compass Formation"},"content":{"rendered":"

E. Schoof, A. Chapman, M. Mesbahi<\/strong><\/p>\n

IEEE International Conference on Robotics and Automation<\/strong><\/p>\n

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The paper considers the efficient selection of leader agents in a swarm running a distributed bearing-compass formation controller. The leaders apply external control which induces translation and scaling of the formation, providing manipulation methods useful to a human operator. The selection algorithm for maximizing translation and scale draws from modularity and submodularity theory. Consequently, the algorithms exhibit guaranteed optimal and suboptimal performance, respectively. For more restricted human-swarm interaction requiring pure translation and scale, a relaxed integer programming algorithm is described to reduce the combinatorial optimization problem to a computationally tractable semidefinite program. The leader selection strategies are supported through demonstration on a swarm testbed.<\/div>\n<\/div>\n<\/div>\n<\/div>\n
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E. Schoof, A. Chapman, M. Mesbahi IEEE International Conference on Robotics and Automation The paper considers the efficient selection of leader agents in a swarm running a distributed bearing-compass formation controller. The leaders apply external control which induces translation and scaling of the formation, providing manipulation methods useful to a human operator. The selection algorithm […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/pages\/1066"}],"collection":[{"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/comments?post=1066"}],"version-history":[{"count":1,"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/pages\/1066\/revisions"}],"predecessor-version":[{"id":1067,"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/pages\/1066\/revisions\/1067"}],"wp:attachment":[{"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/media?parent=1066"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}