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Rigidity and persistence for ensuring shape maintenance of multiagent meta formations

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

Description

This paper treats the problem of merging formations, where the underlying model of a formation is graphical. We first analyze the rigidity and persistence of meta-formations, which are formations obtained by connecting several rigid or 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...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Journal article
URI: http://hdl.handle.net/1885/23069
Source: Asian Journal of Control
DOI: 10.1002/asjc.14

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