Premium
Development of redundant rigidity theory for formation control
Author(s) -
Yu Changbin,
Anderson Brian D. O.
Publication year - 2008
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1386
Subject(s) - rigidity (electromagnetism) , redundancy (engineering) , measure (data warehouse) , computer science , constraint (computer aided design) , property (philosophy) , mathematical optimization , control (management) , control theory (sociology) , mathematics , artificial intelligence , engineering , data mining , geometry , structural engineering , operating system , philosophy , epistemology
Multiagent formation control may proceed by ensuring that designated pairs of agents maintain a specified distance between each other, in order that the overall shape of the formation can be preserved while it translates or rotates. A minimally rigid formation is one in which loss of any one such constraint or link means that individual agent motions can occur, which do not preserve the shape of the formation. Recognizing that real‐world formations may suffer link loss and even agent loss, this paper presents a systematic approach to defining a measure for redundant or nonminimal rigidity, which is the property that formation shape will still be preserved in the face of loss of a certain designated number of distance constraints or formation agents. Most of the results are concerned with advancing a deterministic measure, but this paper also indicates circumstances under which a statistical measure may be relevant. For illustration, the paper analyses a number of standard formations to establish their levels of redundancy. Copyright © 2008 John Wiley & Sons, Ltd.