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Rigidity and Persistence of Meta-Formations

Hendrickx, Julien M; Yu, Changbin (Brad); Fidan, Baris; Anderson, Brian


This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the persistence of meta-formations, which are formations obtained by connecting several persistent formations. Persistence is a generalization to directed graphs of the undirected notion of rigidity. In the context of moving autonomous agent formations, persistence characterizes the efficacy of a directed structure of unilateral distance constraints seeking to...[Show more]

CollectionsANU Research Publications
Date published: 2006
Type: Conference paper
Source: Proceedings of the 45th IEEE Conference on Decision and Control


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