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Publications of year 2010
Articles in journal, book chapters
  1. F. Dörfler and B. Francis. Geometric Analysis of the Formation Problem for Autonomous Robots. IEEE Transactions on Automatic Control, 55(10):2379-2384, October 2010. Keyword(s): Distributed Control Algorithms, Robotic Coordination, Nonlinear Control Design.
    Abstract:
    In the formation control problem for autonomous robots, a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center manifold theory or via a Lyapunov-based approach. Besides the target formation, the closed-loop dynamics of the robots feature various other undesired invariant sets such as nonrigid formations. This note addresses a global stability analysis of the closed-loop formation control dynamics. We pursue a differential geometric approach and derive purely algebraic conditions for local stability of invariant embedded submanifolds. These theoretical results are then applied to the well-known example of a cyclic triangular formation and result in instability of all invariant sets other than the target formation.

    @article{FD-BF:10,
    abstract = {In the formation control problem for autonomous robots, a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center manifold theory or via a Lyapunov-based approach. Besides the target formation, the closed-loop dynamics of the robots feature various other undesired invariant sets such as nonrigid formations. This note addresses a global stability analysis of the closed-loop formation control dynamics. We pursue a differential geometric approach and derive purely algebraic conditions for local stability of invariant embedded submanifolds. These theoretical results are then applied to the well-known example of a cyclic triangular formation and result in instability of all invariant sets other than the target formation.},
    author = {F. D{ö}rfler and B. Francis},
    date-added = {2008-11-27 22:11:55 +0100},
    date-modified = {2018-05-01 11:58:46 +0000},
    journal = {IEEE Transactions on Automatic Control},
    keywords = {Distributed Control Algorithms, Robotic Coordination, Nonlinear Control Design},
    month = {October},
    number = {10},
    pages = {2379-2384},
    pdf = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5491089},
    title = {{Geometric Analysis of the Formation Problem for Autonomous Robots}},
    url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5491089},
    volume = {55},
    year = {2010},
    bdsk-url-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5491089} 
    }
    


Conference articles
  1. F. Dörfler and F. Bullo. Spectral Analysis of Synchronization in a Lossless Structure-Preserving Power Network Model. In Proceedings of the 1st IEEE Conference on Smart Grid Communications in Gaithersburg, Maryland, USA, pages 179-184, October 2010. Keyword(s): Algebraic Graph Theory, Power Networks, Complex Oscillator Networks.
    @inproceedings{FD-FB:10-c,
    author = {F. Dörfler and F. Bullo},
    booktitle = {Proceedings of the 1st IEEE Conference on Smart Grid Communications in Gaithersburg, Maryland, USA},
    date-added = {2011-01-20 21:42:57 -0800},
    date-modified = {2013-10-01 05:38:37 +0000},
    keywords = {Algebraic Graph Theory, Power Networks, Complex Oscillator Networks},
    month = {October},
    pages = {179-184},
    pdf = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5622040},
    title = {{Spectral Analysis of Synchronization in a Lossless Structure-Preserving Power Network Model}},
    url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=5622040&queryText%3D{Spectral+Analysis+of+Synchronization+in+a+Lossless+Structure-Preserving+Power+Network+Model}},
    year = {2010},
    bdsk-url-1 = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=5622040&queryText%3D%7BSpectral+Analysis+of+Synchronization+in+a+Lossless+Structure-Preserving+Power+Network+Model%7D} 
    }
    


  2. F. Dörfler and F. Bullo. Synchronization and Transient Stability in Power Networks and Non-Uniform Kuramoto Oscillators. In Proceedings of the American Control Conference in Baltimore, Maryland, USA, pages 930-937, June 2010. Keyword(s): Power Networks, Complex Oscillator Networks.
    @inproceedings{FD-FB:10-a,
    author = {F. Dörfler and F. Bullo},
    booktitle = {Proceedings of the American Control Conference in Baltimore, Maryland, USA},
    date-added = {2011-01-20 21:39:43 -0800},
    date-modified = {2013-10-01 05:36:16 +0000},
    keywords = {Power Networks, Complex Oscillator Networks},
    month = {June},
    pages = {930-937},
    pdf = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5530690},
    title = {{Synchronization and Transient Stability in Power Networks and Non-Uniform Kuramoto Oscillators}},
    url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5530690},
    year = {2010},
    bdsk-url-1 = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5530690} 
    }
    


  3. F. Dörfler and F. Bullo. Synchronization of Power Networks: Network Reduction and Effective Resistance. In Proceedings of the 2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems in Annecy, France, pages 197-202, September 2010. Keyword(s): Power Networks, Algebraic Graph Theory, Complex Oscillator Networks.
    @conference{FD-FB:10-b,
    author = {F. Dörfler and F. Bullo},
    booktitle = {Proceedings of the 2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems in Annecy, France},
    date-added = {2011-01-20 21:41:16 -0800},
    date-modified = {2013-10-01 05:38:26 +0000},
    keywords = {Power Networks, Algebraic Graph Theory, Complex Oscillator Networks},
    month = {September},
    pages = {197-202},
    pdf = {http://motion.me.ucsb.edu/pdf/2010o-db-ifac.pdf},
    title = {{Synchronization of Power Networks: Network Reduction and Effective Resistance}},
    url = {http://www.ifac-papersonline.net/Detailed/44691.html},
    year = {2010},
    bdsk-url-1 = {http://www.ifac-papersonline.net/Detailed/44691.html} 
    }
    


Miscellaneous
  1. F. Dörfler and F. Bullo. On the Critical Coupling for Kuramoto Oscillators, November 2010. Note: Available at http://arxiv.org/abs/1011.3878. Keyword(s): Power Networks, Complex Oscillator Networks.
    @misc{FD-FB:10wa,
    author = {F. D{ö}rfler and F. Bullo},
    date-added = {2012-11-21 18:44:11 +0000},
    date-modified = {2013-10-01 04:55:02 +0000},
    funding = {IIS-0904501, CNS-0834446, CPS-1135819},
    keywords = {Power Networks, Complex Oscillator Networks},
    month = {November},
    note = {Available at {http://arxiv.org/abs/1011.3878}},
    pdf = {http://motion.me.ucsb.edu/pdf/2010w-db.pdf},
    title = {On the Critical Coupling for {K}uramoto Oscillators},
    year = 2010 
    }
    


  2. F. Dörfler and B. Francis. Geometric Analysis of the Formation Problem for Autonomous Robots, January 2010. Note: Available at http://arxiv.org/abs/1001.4494. Keyword(s): Distributed Control Algorithms, Robotic Coordination, Nonlinear Control Design.
    @misc{FD-BF:10b,
    author = {F. Dörfler and B. Francis},
    date-added = {2012-11-22 22:57:25 +0000},
    date-modified = {2018-05-01 12:24:31 +0000},
    keywords = {Distributed Control Algorithms, Robotic Coordination, Nonlinear Control Design},
    month = {January},
    note = {{Available at {http://arxiv.org/abs/1001.4494}}},
    pdf = {http://arxiv.org/pdf/1001.4494v1.pdf},
    title = {{Geometric Analysis of the Formation Problem for Autonomous Robots}},
    year = {2010} 
    }
    



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Last modified: Wed Mar 13 09:32:47 2024
Author: Florian Dorfler.


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