Rigid Graph Control Architectures for Autonomous Formations APPLYING CLASSICAL GRAPH THEORY TO THE CONTROL OF MULTIAGENT SYSTEMS
Rigid Graph Control Architectures for Autonomous Formations APPLYING CLASSICAL GRAPH THEORY TO THE CONTROL OF MULTIAGENT SYSTEMS
复制标题
DOI：
10.1109/mcs.2008.929280
复制
发表时间：
2008-12-01
影响因子：
5.7
通讯作者：
Hendrickx, Julien M.
中科院分区：
文献类型：
--
作者：
Anderson, Brian D. O.;Yu, Changbin;Hendrickx, Julien M.
本文阐述了分析和创建适合于自动驾驶车辆编队控制的架构的理论基础。该理论基于刚性图论的思想，其中一些但不是全部都是旧的。然而，该理论存在一些缺陷，消除这些缺陷将有助于应用。相关图论中的一些空白如下。首先，还没有三维图形的拉曼定理，它提供了一个组合标准的刚性在二维图形的模拟。第二，对于三维图，没有类似的二维Henneberg构造来生长或解构最小刚性图，尽管有构造。第三，全局刚性可以很容易地描述二维图，但不是三维图。
This article sets out the rudiments of a theory for analyzing and creating architectures appropriate to the control of formations of autonomous vehicles. The theory rests on ideas of rigid graph theory, some but not all of which are old. The theory, however, has some gaps in it, and their elimination would help in applications. Some of the gaps in the relevant graph theory are as follows. First, there is as yet no analogue for three-dimensional graphs of Laman's theorem, which provides a combinatorial criterion for rigidity in two-dimensional graphs. Second, for three-dimensional graphs there is no analogue of the two-dimensional Henneberg construction for growing or deconstructing minimally rigid graphs although there are conjectures. Third, global rigidity can easily be characterized for two-dimensional graphs, but not for three-dimensional graphs.