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The Role of Symmetry in Rigidity Analysis: A Tool for Network Localisation and Formation Control

Stacey, Geoffrey; Mahony, Robert


The classical notion of rigidity (that a formation of agents in IR2 or IR3 is rigidly constrained by inter-agent distances up to rigid-body transformations of space) is inherently dependent on the nature of Euclidean space and the nature of distance measurements. In this paper we present a generalised formulation of rigidity where agent states may lie in heterogeneous and non-Euclidean state-spaces with arbitrary differentiable measurement constraints. A key aspect of our approach is to...[Show more]

CollectionsANU Research Publications
Date published: 2017-08-31
Type: Journal article
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2017.2747760


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