Rigidity and persistence for ensuring shape maintenance of multi-agent meta-formations
(2008) Asian Journal of Control — Vol. 10, n° 2, p. 131-143 (2008)
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- This paper treats the problem of merging formations, where the underlying model of a formation is graphical. We first analyze the rigidity and persistence of meta-formations, which are formations obtained by connecting several rigid or persistent formations. Persistence is a generalization to directed graphs of the undirected notion of rigidity. In the context of moving autonomous agent formations, persistence characterizes the efficacy of a directed structure of unilateral distance constraints seeking to preserve a formation shape. We derive then, for agents evolving in a two- or three-dimensional space, the conditions under which a set of persistent formations can be merged into a persistent meta-formation, and give the minimal number of interconnections needed for such a merging. We also give conditions for a meta-formation obtained by merging several persistent formations to be persistent.
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Hendrickx, J., Yu, C., Fidan, B., & Anderson, B. D. O. (2008). Rigidity and persistence for ensuring shape maintenance of multi-agent meta-formations. Asian Journal of Control, 10(2), 131-143. https://doi.org/10.1002/asjc.014 (Original work published 2008)