Tolga Eren, Peter N. Belhumeur
Abstract: In this paper, a framework for maintaining formations of large number of mobile autonomous vehicles based on rigidity is proposed. The aim of this paper is to explore strategies for...
This paper is concerned with information structures used in rigid formations of unmanned aerial vehicles (UAV’s) and micro-satellite clusters that have leader-follower architecture. The focus of...
Using Angle of Arrival (Bearing) Information for Localization in Robot Networks (2008)
In this paper, we consider using angle of arrival information (bearing) for localization in robot networks. The essential property we require in this paper is that a node can infer heading...
Abstract Rigid Formations of Autonomous Agents (2008)
This thesis addresses rigid formations of autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication networks as an integral part of coordination....
Using Angle of Arrival (Bearing) Information in Network Localization (2006)
Eren, Tolga, Whiteley, Walter, Belhumeur, Peter N.
In this paper, we consider using angle of arrival information (bearing) for network localization and control in two different fields of multi-agent systems: (i) wireless sensor networks; (ii) robot...
Rigid Formations with Leader-Follower Architecture (2006)
Eren, Tolga, Whiteley, Walter, Belhumeur, Peter N.
This paper is concerned with information structures used in rigid formations of autonomous agents that have leader-follower architecture. The focus of the paper is on sensor/network topologies to...
A theory of network localization (2006)
James Aspnes, Tolga Eren, David K. Goldenberg, Student Member, A. Stephen Morse, Walter Whiteley, ...
Abstract—In this paper, we provide a theoretical foundation for the problem of network localization in which some nodes know their locations and other nodes determine their locations by measuring...
Graphical Properties of Easily Localizable Sensor Networks (2006)
Peter N Belhumeur, Tolga Eren, David K Goldenberg, A Stephen, Morse Walter Whiteley, ...
The sensor network localization problem is one of determining the Euclidean positions of all sensors in a network given knowledge of the Euclidean positions of some, and knowledge of a number of...
Merging Globally Rigid Formations of Mobile Autonomous Agents (2005)
Eren, Tolga, Anderson, Brian, Whiteley, Walter, Morse, A. Stephen, Belhumeur, Peter N.
This paper is concerned with merging globally rigid formations of mobile autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication networks as an...
Rigid Formations with Leader-Follower Architecture (2005)
Eren, Tolga, Whiteley, Walter, Belhumeur, Peter N.
This paper is concerned with information structures used in rigid formations of autonomous agents that have leader-follower architecture. The focus of this paper is on sensor/network topologies to...
Information structures to secure control of rigid formations with leader-follower structure (2005)
Tolga Eren, Walter Whiteley, A. Stephen Morse, Peter N. Belhumeur
Abstract — This paper is concerned with rigid formations of mobile autonomous agents using a leader-follower structure. A formation is a group of agents moving in real 2- or 3dimensional space. A...
Information structures to secure control of rigid formations with leader-follower structure (2005)
Tolga Eren, Walter Whiteley, A. Stephen Morse, Peter N. Belhumeur
Abstract — This paper is concerned with rigid formations of mobile autonomous agents that have leader-follower architecture. In a previous paper, Baillieul and Suri gave a proposition as a...
P.: Further results on sensor network localization using rigidity (2005)
Tolga Eren, Walter Whiteley, Peter N. Belhumeur
Abstract — Two further results, which extend the previous work on the use of rigidity in sensor network localization, are given. The previous work provided the conditions for the localization of an...
P.: Further results on sensor network localization using rigidity (2005)
Tolga Eren, Walter Whiteley, Peter N. Belhumeur
Abstract-Two further results, which extend the previous work on the use of rigidity in sensor network localization, are given, The previous work provided the conditions for the localization of an...
Rigid formations with leader-follower architecture (2005)
Tolga Eren, Walter Whiteley, Peter N. Belhumeur
Abstract — This paper is concerned with information structures used in rigid formations of autonomous agents that have leaderfollower architecture. The focus of this paper is on sensor/network...
Information Structures to Secure Control of Rigid Formations with Leader-Follower Structure (2004)
Eren, Tolga, Whiteley, Walter, Anderson, Brian D.O., Morse, A. Stephen, Belhumeur, Peter N.
This paper is concerned with rigid formations of mobile autonomous agents using a leader-follower structure. A formation is a group of agents moving in real 2- or 3- dimensional space. A formation is...
A Theoretical Analysis of the Conditions for Unambiguous Node Localization in Sensor Networks (2004)
Eren, Tolga, Whiteley, Walter, Belhumeur, Peter N.
In this paper we provide a theoretical foundation for the problem of network localization in which some nodes know their locations and other nodes determine their locations by measuring distances or...
Rigid formations of autonomous agents [microform] / (2004)
Thesis (Ph. D.)--Yale University, 2004.
A theoretical analysis of the conditions for unambiguous node localization in sensor networks (2004)
Tolga Eren, Walter Whiteley, Peter N. Belhumeur
Abstract — In this paper we provide a theoretical foundation for the problem of network localization in which some nodes know their locations and other nodes determine their locations by measuring...
Information structures to control formation splitting and merging (2004)
Tolga Eren, A. Stephen, Morse Walter, Whiteley Peter, N. Belhumeur
Abstract — This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to achieve rigid formations of mobile autonomous agents...
Information structures to secure control of globally rigid formations (2004)
Tolga Eren, Walter Whiteley, A. Stephen, Morse Brian, D. O. Anderson, Peter N. Belhumeur
Abstract — Sensor and network topologies of rigid formations with distance information between mobile autonomous agents are considered. An approach based on rigidity for creating such topologies...
Operations on rigid formations of autonomous agents (2004)
Tolga Eren, A. Stephen Morse, Walter Whiteley, N. Belhumeur, ...
Abstract. This paper is concerned with the maintenance of rigid formations of mobile autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication...
Merging globally rigid formations of mobile autonomous agents (2004)
This paper is concerned with merging globally rigid formations of mobile autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication networks as an...
Merging globally rigid formations of mobile autonomous agents (2004)
Tolga Eren, Walter Whiteley, A. Stephen Morse, Peter N. Belhumeur
This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to merge globally rigid formations for cooperative tasks. Central to...
FrMi2.5 Information Structures to Control Formation Splitting and Merging (2004)
Tolga Eren, Brian D. Anderson, A. Stephen, Morse Walter, Whiteley Peter, N. Belhumeur
Abstract-This paper focuses on developing techniques and strategies for the analysis and design of sensor and network topologies required to achieve rigid formations of mobile autonomous agents for...
Operations on Rigid Formations of Autonomous Agents (2003)
Anderson, Brian D. O., Belhumeur, Peter N., Eren, Tolga, Morse, A. Stephen, Whiteley, Walter
This paper is concerned with the maintenance of rigid formations of mobile autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication networks as...
Sensor and network topologies of formations of autonomous agents are considered. The aim of the paper is to suggest an approach for such topologies for formations with direction, bearing and angle...
Closing Ranks in Vehicle Formations Based on Rigidity (2002)
Tolga Eren, Peter N. Belhumeur, A. Stephen Morse
In this paper, a systematic way of maintaining rigidity in case of vehicle removals in formations for coordinating mobile autonomous vehicles with limited communication/sensing links is presented....
Closing Ranks In Vehicle Formations Based On Rigidity (2002)
Tolga Eren, Peter N. Belhumeur, A. Stephen Morse
This paper addresses the closing ranks problem in formations of coordinating large number of autonomous vehicles with limited communication /sensing requirements. We propose a framework based on...
A Framework For Maintaining Formations Based On Rigidity (2002)
Tolga Eren, Peter N. Belhumeur
In this paper, a framework for maintaining formations of large number of mobile autonomous vehicles based on rigidity is proposed. The aim of this paper is to explore strategies for maintaining...
A Framework For Maintaining Formations Based On Rigidity (2002)
Tolga Eren, Peter N. Belhumeur, A. Stephen Morse
In this paper, a framework for maintaining formations of large number of mobile autonomous vehicles based on rigidity is proposed. The aim of this paper is to explore strategies for maintaining...
A framework for maintaining formations based on rigidity (2002)
Tolga Eren, Peter N. Belhumeur
Abstract: In this paper, a framework for maintaining formations of large number of mobile autonomous vehicles based on rigidity is proposed. The aim of this paper is to explore strategies for...