Controlling and stabilizing a rigid formation using a few agents
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Abstract: We show in this paper that a small subset of agents of a formation of n agents in Euclidean space can control the position and orientation of the entire formation. We consider here formations tasked with maintaining inter-agent distances at prescribed values. It is known that when the inter-agent distances specified can be realized as the edges of a rigid graph, there is a finite number of possible configurations of the agents that satisfy the distance constraints, up to rotations and translations of the entire formation. We show here that under mild conditions on the type of control used by the agents, a subset of them forming a clique can work together to control the position and orientation of the formation as a whole. Mathematically, we investigate the effect of certain allowable perturbations of a nominal dynamics of the formation system. In particular, we show that any such perturbation leads to a rigid motion of the entire formation. Furthermore, we show that the map which assigns to a perturbation the infinitesimal generator of the corresponding rigid motion is locally surjective.
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Cites work
- A survey of multi-agent formation control
- Consensus Problems in Networks of Agents With Switching Topology and Time-Delays
- Controllability of Formations Over Directed Time-Varying Graphs
- Differential geometry, Lie groups, and symmetric spaces.
- Equivariant Dynamical Systems
- Geometric Analysis of the Formation Problem for Autonomous Robots
- Global and robust formation-shape stabilization of relative sensing networks
- Global stabilization of triangulated formations
- scientific article; zbMATH DE number 501471 (Why is no real title available?)
- On graphs and rigidity of plane skeletal structures
- Stabilisation of infinitesimally rigid formations of multi-robot networks
- Stabilization of Planar Collective Motion With Limited Communication
- String Stability and a Delay-Based Spacing Policy for Vehicle Platoons Subject to Disturbances
- Undirected Rigid Formations Are Problematic
Cited in
(15)- Sign rigidity theory and application to formation specification control
- An intrinsic approach to formation control of regular polyhedra for reduced attitudes
- Development of redundant rigidity theory for formation control
- Global stabilization of triangulated formations
- Formation stabilization and resizing based on the control of inter-agent distances
- A backstepping design for directed formation control of three-coleader agents in the plane
- Maintaining a directed, triangular formation of mobile autonomous agents
- Scaling the size of a formation using relative position feedback
- Constructing Universally Rigid Tensegrity Frameworks With Application in Multiagent Formation Control
- Formation control of rigid graphs with flex edges
- Distributed stabilization control of rigid formations with prescribed orientation
- Control of minimally persistent formations in the plane
- Counting critical formations on a line
- Distributed optimization under edge agreements: a continuous-time algorithm
- Formation control of mobile agents based on inter-agent distance dynamics
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