Structural persistence of three dimensional autonomous formations
(2005) MARS 2005 — Location: Barcelona (Spain)
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- Authors
- Abstract
- Built upon a recently developed theoretical framework, we consider some practical issues raised in multi-agent formation control in three dimensional space. We introduce the partial equilibrium problem, which is associated with unsafe control of a formation in practical 3-dimensional applications. We define structurally persistent graphs, a class of persistent graphs free of any partial equi- librium problem. In real deployment of control of multi-agent systems, forma- tions with underlying structurally persistent graphs are of interest. We study the connections between the allocation of degrees of freedom (DOFs) across agents and the characteristics of persistence and/or structural persistence of a directed graph. We also show how to transfer degrees of freedom between agents, when the formation changes with new agent(s) added, to preserve persistence and/or structural persistence
- Affiliations
Australian National University RSISE
Citations
Yu, CH., Hendrickx, J., Fidan, B., & Anderson, B. D. O. (2005). Structural persistence of three dimensional autonomous formations. Proceedings of the 1st International workshop on Multi-Agent Systems. Published. MARS 2005, Barcelona (Spain). https://hdl.handle.net/2078.5/221733