An approach to switching control beyond nearest neighbor rules

Brian Shucker*, Todd Murphey, John K. Bennett

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations


Current approaches to distributed control involving many robots generally restrict interactions to pairs of robots within a threshold distance. While this allows for provable stability, there are performance costs associated with the lack of long-distance information. We introduce the acute angle switching algorithm, which allows a small number of long-range interactions in addition to interactions with nearby neighbors. We show that the acute angle switching algorithm provides an improvement in performance while retaining the quality of provable stability.

Original languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
Number of pages7
StatePublished - Dec 1 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006


Other2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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