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Formation Reorganization by Primitive Operations on Directed Graphs

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


In this paper, we study the construction and transformation of 2-D persistent graphs. Persistence is a generalization to directed graphs of the undirected notion of rigidity. Both notions are currently being used in various studies on coordination and control of autonomous multiagent formations. In the context of mobile autonomous agent formations, persistence characterizes the efficacy of a directed formation structure with unilateral distance constraints seeking to preserve the shape of the...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Journal article
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2008.920239


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