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Development of redundant rigidity theory for formation control

Yu, Changbin (Brad); Anderson, Brian


Multiagent formation control may proceed by ensuring that designated pairs of agents maintain a specified distance between each other, in order that the overall shape of the formation can be preserved while it translates or rotates. A minimally rigid formation is one in which loss of any one such constraint or link means that individual agent motions can occur, which do not preserve the shape of the formation. Recognizing that real-world formations may suffer link loss and even agent loss, this...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Journal article
Source: International Journal of Robust and Nonlinear Control
DOI: 10.1002/rnc.1386


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