Hendrickx, Julien
[UCL]
Changbin Yu
Fidan, B.
Anderson, B.D.O.
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.
Bibliographic reference |
Hendrickx, Julien ; Changbin Yu ; Fidan, B. ; Anderson, B.D.O.. Rigidity and persistence of meta-formations.CDC 2006 (San Diego, CA, USA). In: Proceedings of the 45th IEEE Conference on Decision and Control (IEEECat. No. 06CH37770), IEEE2006, p.6 pp. |
Permanent URL |
http://hdl.handle.net/2078.1/67901 |