Edge Contraction Based Maintenance of Rigidity in Multi-Agent Formations During Agent Loss
(2009) 17th Mediterranean Conference on Control and Automation — Location: Thessaloniki, Greece
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- Authors
- Abstract
- This paper proposes a systematic approach to the problem of restoring rigidity after loss of an agent, for two-dimensional rigid multi-agent formations based on a particular graph operation, the edge contraction operation. A rigidity maintenance method is proposed, for the cases where an agent is lost in an arbitrary two-dimensional rigid formation, to restore rigidity by transferring all links to which this agent was incident on to one of its neighbors. From a graph theoretical point of view, this corresponds to contraction of a certain edge incident to the vertex representing the agent being lost.
- Affiliations
Australian National University RSISE
Citations
Fidan, B., Hendrickx, J., & Anderson, B. D. O. (2009). Edge Contraction Based Maintenance of Rigidity in Multi-Agent Formations During Agent Loss. Proceedings. Published. 17th Mediterranean Conference on Control and Automation, Thessaloniki, Greece. https://doi.org/10.1109/MED.2009.5164578