Rigidity and persistence for ensuring shape maintenance of multiagent meta formations (ext'd version)

Simple item page
dc.creatorHendrickx, Julien M.
dc.creatorYu, Changbin
dc.creatorFidan, Baris
dc.creatorAnderson, Brian D. O.
dc.date2007-10-14
dc.date.accessioned2026-07-07T08:36:16Z
dc.date.available2026-07-07T08:36:16Z
dc.descriptionThis paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the rigidity and persistence of meta-formations, which are formations obtained by connecting several rigid or 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.
dc.description1 zip file containing 1 .tex files, and 39 .eps files. The paper (including the appendix) contains 13 Figures
dc.identifierhttps://arxiv.org/abs/0710.2659
dc.identifierhttp://arxiv.org/abs/0710.2659
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/140004
dc.subjectMultiagent Systems
dc.subjectDiscrete Mathematics
dc.titleRigidity and persistence for ensuring shape maintenance of multiagent meta formations (ext'd version)
dc.typetext

Files

Collections

arXiv