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Closing ranks in rigid multi-agent formations using edge contraction

Fidan, Baris; Hendrickx, Julien M; Anderson, Brian


This paper proposes a systematic approach to solve the closing rank problem for a rigid multi-agent formation, viz. restoring rigidity after loss of an agent. The approach is based on a particular graph operation, the edge contraction operation. It is proven that when an agent is lost in an arbitrary two-dimensional rigid formation, rigidity can always be restored by transferring all links to which this agent was incident on to one of its neighbors, though not in general any arbitrary one of...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Journal article
Source: International Journal of Robust and Nonlinear Control
DOI: 10.1002/rnc.1570


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