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Generalised Rigidity and Path-Rigidity for Agent Formations

Stacey, Geoffrey; Mahony, Robert; Trumpf, Jochen


The classical concept of rigidity characterises conditions under which distance constraints between agents in R3 enforce a rigid structure on the whole collection of agents. The present paper has two goals. Firstly, we propose a generalised theory for rigidity to allow heterogeneous agent states on non-Euclidean spaces and general non-linear relative state constraints. To do this, we characterise rigidity as an invariance property with respect to a topological group action that is introduced...[Show more]

CollectionsANU Research Publications
Date published: 2016
Type: Conference paper
Source: Proceedings of the 22nd International Symposium on Mathematical Theory of Networks and Systems
Access Rights: Free Access via publisher website


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