Rigidity and persistence of meta-formations
(2006) CDC 2006 — Location: San Diego, CA, USA
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- Abstract
- This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the persistence of meta-formations, which are formations obtained by connecting several 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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Citations
Hendrickx, J., Changbin Yu, Fidan, B., & Anderson, B. D. O. (2006). Rigidity and persistence of meta-formations. Proceedings of the 45th IEEE Conference on Decision and Control (IEEECat. No. 06CH37770), 6 pp. https://hdl.handle.net/2078.5/220661