Distributed combinatorial rigidity control in multi-agent networks
Distributed combinatorial rigidity control in multi-agent networks
复制标题
多智能体网络中的分布式组合刚性控制
DOI：
10.1109/cdc.2013.6760847
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
G. Sukhatme
中科院分区：
文献类型：
--
作者：
Ryan K. Williams;A. Gasparri;A. Priolo;G. Sukhatme
本文提出了一种分布式控制律，以保持平面上的多智能体系统的组合刚性。根据刚性作为底层网络图函数的一般性质，提出了通过智能体移动来保持组合刚性的局部链路添加和删除规则。具体来说，局部子图上的网络链路冗余允许确定保持刚性的拓扑转换。研究结果表明，网络链路的局部冗余足以满足全局冗余，因此，应用最小的通信和O（n2）规模的计算，可以保持网络的一般拓扑刚性。
In this paper, we propose a distributed control law to maintain the combinatorial rigidity of a multi-agent system in the plane, when interaction is proximity-limited. Motivated by the generic properties of rigidity as a function of the underlying network graph, local link addition and deletion rules are proposed that preserve combinatorial rigidity through agent mobility. Specifically, redundancy of network links over local sub-graphs allows the determination of topological transitions that preserve rigidity. It is shown that local redundancy of a network link is sufficient for global redundancy, and thus applying minimal communication, and computation that scales like O(n2), the generic topological rigidity of a network can be preserved.