Structural Persistence of Three Dimensional Autonomous Formations

Changbin Yu, Julien M. Hendrickx, Barıș Fidan, Brian D.O. Anderson

Abstract

Built upon a recently developed theoretical framework, we consider some practical issues raised in multi-agent formation control in three dimensional space. We introduce the partial equilibrium problem, which is associated with unsafe control of a formation in practical 3-dimensional applications. We define structurally persistent graphs, a class of persistent graphs free of any partial equilibrium problem. In real deployment of control of multi-agent systems, formations with underlying structurally persistent graphs are of interest. We study the connections between the allocation of degrees of freedom (DOFs) across agents and the characteristics of persistence and/or structural persistence of a directed graph. We also show how to transfer degrees of freedom between agents, when the formation changes with new agent(s) added, to preserve persistence and/or structural persistence.

References

  1. J.M. Hendrickx, B. Fidan, C. Yu, B.D.O. Anderson, and V.D. Blondel. Rigidity and persistence of three and higher dimensional directed formations. To appear in the 1st International Workshop on Multi-Agent Robotic Systems-MARS0578 as a companion of this paper.
  2. C. Yu, B. Fidan, and B.D.O. Anderson. Persistence acquisition and maintenance for autonomous formations. Submitted to the 2nd International Conference on Intelligent Sensors, Sensor Networks and Information Processing, 2005.
  3. W. Whiteley. Matroid Theory, volume 197 of Contemporary Mathematics, pages 171-311. American Mathemtical Society, 1996.
  4. W. Whiteley. Handbook of Discrete and Computational Geometry, chapter Rigidity and Scene Analysis, pages 893-916. CRC Press, 1997.
  5. J.M. Hendrickx, B.D.O. Anderson, V.D. Blondel, and J.-C. Delvenne. Directed graphs for the analysis of rigidity and persistence in autonomous agent systems. Submitted to the Int. J. Robust Nonlinear Control, 2005.
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Paper Citation


in Harvard Style

Yu C., M. Hendrickx J., Fidan B. and D.O. Anderson B. (2005). Structural Persistence of Three Dimensional Autonomous Formations . In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005) ISBN 972-8865-34-1, pages 47-55. DOI: 10.5220/0001194600470055


in Bibtex Style

@conference{mars05,
author={Changbin Yu and Julien M. Hendrickx and Barıș Fidan and Brian D.O. Anderson},
title={Structural Persistence of Three Dimensional Autonomous Formations},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)},
year={2005},
pages={47-55},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001194600470055},
isbn={972-8865-34-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)
TI - Structural Persistence of Three Dimensional Autonomous Formations
SN - 972-8865-34-1
AU - Yu C.
AU - M. Hendrickx J.
AU - Fidan B.
AU - D.O. Anderson B.
PY - 2005
SP - 47
EP - 55
DO - 10.5220/0001194600470055