• Main.Allerton2012

# Hierarchically Clustered Navigation of Distinct Euclidean Particles

#### October, 2012

OmurArslan*, Dan P. Guralnik *, Yuliy M. Baryshnikov†, D. E. Koditschek*
*: Electrical and Systems Engineering, University of Pennsylvania
†: Departments of Mathematics and Electrical and Computing Engineering, University of Illinois at Urbana-Champaign
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Abstract
This paper introduces and solves the problem of cluster-hierarchy-invariant particle navigation in Conf(R^d, J). Namely, we are given a desired goal configuration, x ∈ Conf(R^d, J) and  \tau, a specified cluster hierarchy that the goal supports. We build a hybrid closed loop controller guaranteed to bring any other configuration that supports  to the desired goal, x ∈ Conf(R^d, J), through a transient motion whose eachconfiguration along the way also supports that hierarchy.

This work was funded in part by the Air Force Office of Science Research under the MURI FA9550–10–1−0567.

BibTeX entry
@inproceedings{arslanEtAl_Allerton2012,
author       = {Omur Arslan and Dan P. Guralnik and Yuliy M. Baryshnikov and D E Koditschek},
title        = {Hierarchically Clustered Navigation of Distinct Euclidean Particles},
booktitle    = {Proceedings of the Fiftieth Annual Allerton Conference on Communication, Control, and Computing},
month        = {October},
year         = {2012}
}