{"id":1577,"date":"2019-02-09T23:07:22","date_gmt":"2019-02-10T07:07:22","guid":{"rendered":"http:\/\/depts.washington.edu\/uwrainlab\/?page_id=1577"},"modified":"2019-02-09T23:07:22","modified_gmt":"2019-02-10T07:07:22","slug":"weighted-bearing-compass-dynamics-edge-and-leader-selection-2","status":"publish","type":"page","link":"http:\/\/depts.washington.edu\/uwrainlab\/weighted-bearing-compass-dynamics-edge-and-leader-selection-2\/","title":{"rendered":"Weighted bearing-compass dynamics: Edge and leader selection"},"content":{"rendered":"<p><strong>E. Schoof, A. Chapman, M. Mesbahi<\/strong><\/p>\n<p><strong style=\"text-align: justify;\">IEEE Transactions on Network Science and Engineering<\/strong><\/p>\n<p style=\"text-align: justify;\"><span style=\"text-align: justify;\">This paper considers the design and effective interfaces of a distributed robotic formation running planar weighted bearing-compass dynamics. We present results that support methodologies to construct formation topologies using submodular optimization techniques. Further, a convex optimization framework is developed for the selection of edge weights which increase performance. We explore a method to select leader agents that can translate and scale the formation, and a corresponding controller that promotes the formation keeping its overall shape intact during manipulation. The results are supported with examples that illustrate the approach and their differing levels of performance.<\/span><\/p>\n<div class=\"gs_scl\"><\/div>\n<p><strong>Links:<\/strong><\/p>\n<p><a href=\"https:\/\/ieeexplore.ieee.org\/abstract\/document\/8047285\"><img loading=\"lazy\" class=\"alignnone wp-image-810\" src=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/download.png\" alt=\"\" width=\"26\" height=\"26\" srcset=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/download.png 225w, http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/download-150x150.png 150w\" sizes=\"(max-width: 26px) 100vw, 26px\" \/><\/a> \u00a0 <a href=\"https:\/\/ieeexplore.ieee.org\/stamp\/stamp.jsp?arnumber=8047285\"><img loading=\"lazy\" class=\"alignnone wp-image-811\" src=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/image_preview.png\" alt=\"\" width=\"31\" height=\"31\" srcset=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/image_preview.png 250w, http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/image_preview-150x150.png 150w\" sizes=\"(max-width: 31px) 100vw, 31px\" \/><\/a> \u00a0 <a href=\"https:\/\/scholar.google.com\/scholar?hl=en&amp;as_sdt=0%2C48&amp;q=Weighted+bearing-compass+dynamics%3A+Edge+and+leader+selection&amp;btnG=#d=gs_cit&amp;u=%2Fscholar%3Fq%3Dinfo%3AaOSbMXdR3fQJ%3Ascholar.google.com%2F%26output%3Dcite%26scirp%3D0%26hl%3Den\"><img loading=\"lazy\" class=\"alignnone wp-image-809\" src=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/BibTeX_logo.svg_-300x97.png\" alt=\"\" width=\"65\" height=\"21\" srcset=\"http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/BibTeX_logo.svg_-300x97.png 300w, http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/BibTeX_logo.svg_-768x248.png 768w, http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/BibTeX_logo.svg_-1024x330.png 1024w, http:\/\/depts.washington.edu\/uwrainlab\/wordpress\/wp-content\/uploads\/2018\/07\/BibTeX_logo.svg_.png 1200w\" sizes=\"(max-width: 65px) 100vw, 65px\" \/><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>E. Schoof, A. Chapman, M. Mesbahi IEEE Transactions on Network Science and Engineering This paper considers the design and effective interfaces of a distributed robotic formation running planar weighted bearing-compass dynamics. We present results that support methodologies to construct formation topologies using submodular optimization techniques. Further, a convex optimization framework is developed for the selection [&hellip;]<\/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\/1577"}],"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=1577"}],"version-history":[{"count":1,"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/pages\/1577\/revisions"}],"predecessor-version":[{"id":1578,"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/pages\/1577\/revisions\/1578"}],"wp:attachment":[{"href":"http:\/\/depts.washington.edu\/uwrainlab\/wp-json\/wp\/v2\/media?parent=1577"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}