3-Cycle-Free Rigidity for Multi-Agent Control Systems
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Tarih
2009
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Ieee
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This paper is concerned with rigid formations of mobile autonomous agents. For the problem of relative formation stabilization, Nyquist-like criterion for formation stabilization is used in literature, where spectral properties of the Laplacian matrix play a role in evaluating desirable structural properties of formations. Establishing measures of near-periodicity would be useful in quantifying formation stability margins. In this paper, we analyze constructions to create non-3-periodic rigid formations, i.e., we study the constructions to create 3-cycle-free rigid formations. Central to the development of our analysis will be the use of tools from rigidity theory and graph Laplacians.
Açıklama
17th Mediterranean Conference on Control and Automation -- JUN 24-26, 2009 -- Thessaloniki, GREECE
Anahtar Kelimeler
agents and agent-based systems, multi-agent systems, formation control, robot swarms
Kaynak
Med: 2009 17Th Mediterranean Conference On Control & Automation, Vols 1-3
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N/A
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closedAccess
