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Construction of Universally Rigid Tensegrity Frameworks and Their Applications in Formation Scaling Control

Yang, Qingkai; Sun, Zhiyong; Cao, Ming; Fang, Hao; Chen, Jie


This paper first investigates the challenging graph theoretic problem of constructing universally rigid tensegrity frameworks given any generic configuration. We design a numerical algorithm to construct a universally rigid tensegrity framework, such that the resulted eigenvalues of the stress matrix of the tensegrity framework can be selected beforehand. As one application, we then consider the formation scaling problem for multi-agent systems, in which the agents and their interaction...[Show more]

CollectionsANU Research Publications
Date published: 2017
Type: Conference paper
Book Title: Proceedings of the 36th Chinese Control Conference
DOI: 10.23919/ChiCC.2017.8028651


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