Weighted Bearing-Compass Dynamics: Edge and Leader Selection

Abstract

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.