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ZENODO
Conference object . 2013
License: CC 0
Data sources: ZENODO
https://doi.org/10.1109/cdc.20...
Article . 2013 . Peer-reviewed
Data sources: Crossref
DBLP
Conference object . 2017
Data sources: DBLP
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Shortest path set induced vertex ordering and its application to distributed distance optimal formation path planning and control on graphs

Authors: Jingjin Yu,; LaValle, Steven M.;

Shortest path set induced vertex ordering and its application to distributed distance optimal formation path planning and control on graphs

Abstract

For the task of moving a group of indistinguishable agents on a connected graph with unit edge lengths into an arbitrary goal formation, it was shown that distance optimal paths can be computed to complete with a tight convergence time guarantee [30], using a fully centralized algorithm. In this study, we establish the existence of a more fundamental ordering of the vertices on the underlying graph network, induced by a fixed goal formation. The ordering leads to a simple distributed scheduling algorithm that assures the same convergence time. The vertex ordering also readily extends to more general graphs - those with arbitrary integer capacities and edge lengths - for which we again provide guarantees on the convergence time until the desired formation is achieved. Simulations, accessible via a web browser, confirm our theoretical developments.

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
views
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8
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