Eren, TolgaWhiteley, WalterAnderson, BrianMorse, A StephenBelhumeur, Peter N2015-12-132015-12-13June 8 2000780390989http://hdl.handle.net/1885/84405This paper is concerned with rigid formations of mobile autonomous agents that have leader-follower architecture. In a previous paper, Baillieul and Suri gave a proposition as a necessary condition for stable rigidity. They also gave a separate theorem as a sufficient condition for stable rigidity. This paper suggests an approach to analyze rigid formations that have leader-follower architecture. It proves that the third condition in the proposition given by Baillieul and Suri is redundant, and it proves that this proposition is a necessary and sufficient condition for stable rigidity. Simulation results are also presented to illustrate rigidity.Keywords: Information structure; Leader-follower architecture; Rigid formations; Stable rigidity; Algorithms; Autonomous agents; Computer simulation; Data structures; Formal logic; Computer architecture20052015-12-12