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Rigidity and Persistence of Meta-Formations

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

Description

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]

dc.contributor.authorHendrickx, Julien M
dc.contributor.authorYu, Changbin (Brad)
dc.contributor.authorFidan, Baris
dc.contributor.authorAnderson, Brian
dc.coverage.spatialSan Diego USA
dc.date.accessioned2015-12-07T22:25:43Z
dc.date.createdDecember 13-15 2006
dc.identifier.isbn1424401712
dc.identifier.urihttp://hdl.handle.net/1885/21429
dc.description.abstractThis 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 preserve a formation shape. We derive then, for agents evolving in a two- or three-dimensional space, the conditions under which a set of persistent formations can be merged into a persistent meta-formation, and give the minimal number of interconnections needed for such a merging. We also give conditions for a meta-formation obtained by merging several persistent formations to be persistent.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE Conference on Decision and Control 2006
dc.sourceProceedings of the 45th IEEE Conference on Decision and Control
dc.source.urihttp://www.ieeecss.org/CAB/conferences/cdc2006/index.php
dc.subjectKeywords: Constraint theory; Graph theory; Mathematical models; Problem solving; Meta-formations; Unilateral distance constraints; Intelligent agents
dc.titleRigidity and Persistence of Meta-Formations
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2006
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.identifier.ariespublicationu3594520xPUB17
local.type.statusPublished Version
local.contributor.affiliationHendrickx, Julien M, Catholic University of Louvain
local.contributor.affiliationYu, Changbin (Brad), College of Engineering and Computer Science, ANU
local.contributor.affiliationFidan, Baris, College of Engineering and Computer Science, ANU
local.contributor.affiliationAnderson, Brian, College of Engineering and Computer Science, ANU
local.bibliographicCitation.startpage5980
local.bibliographicCitation.lastpage5985
dc.date.updated2015-12-07T09:40:30Z
local.identifier.scopusID2-s2.0-39649104066
CollectionsANU Research Publications

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