The Role of Symmetry in Rigidity Analysis: A Tool for Network Localisation and Formation Control
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]
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|Source:||IEEE Transactions on Automatic Control|
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