Decentralized cooperative control of heterogeneous vehicle groups
Robotics and Autonomous Systems
Automatic generation of persistent formations for multi-agent networks under range constraints
Proceedings of the 1st international conference on Robot communication and coordination
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Topology control based on optimally rigid graph in wireless sensor networks
Computer Networks: The International Journal of Computer and Telecommunications Networking
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In this paper, decentralized methods of optimally rigid graphs generation for formation control are researched. The notion of optimally rigid graph is first defined in this paper to describe a special kind of rigid graphs. The optimally rigid graphs can be used to decrease the topology complexity of graphs while maintaining their shapes. To minimize the communication complexity of formations, we study the theory of optimally rigid formation generation. First, four important propositions are presented to demonstrate the feasibility of using a decentralized method to generate optimally rigid graphs. Then, a formation algorithm for multi-agent systems based on these propositions is proposed. At last, some simulation examples are given to show the efficiency of the proposed algorithm.