Controllability And Observability For Interconnections Of A Large Number Of Mobile Robots

Javier Alcazar, Laboratory for Intelligent Machine Systems (LIMS), Cornell University

This paper analyzes the stability, connective stability and the degree of controllability and observability for a large group of distributed robots that use local sensing and control for different subsystem interconnections. A closed form equation is derived to compute the hankel singular values for symmetric systems that are fully observable and controllable.