This paper researched into some methods for generating min-weighted rigid graphs and min-weighted persistent graphs. Rigidity and persistence are currently used in various studies on coordination and control of autono...This paper researched into some methods for generating min-weighted rigid graphs and min-weighted persistent graphs. Rigidity and persistence are currently used in various studies on coordination and control of autonomous multi-agent formations. To minimize the communication complexity of formations and reduce energy consumption, this paper introduces the rigidity matrix and presents three algorithms for generating rain-weighted rigid and min- weighted persistent graphs. First, the existence of a min-weighted rigid graph is proved by using the rigidity matrix, and algorithm 1 is presented to generate the min-weighted rigid graphs. Second, the algorithm 2 based on the rigidity matrix is presented to direct the edges of min-weighted rigid graphs to generate min-weighted persistent graphs. Third, the formations with range constraints are considered, and algorithm 3 is presented to find whether a framework can form a min-weighted persistent formation. Finally, some simulations are given to show the efficiency of our research.展开更多
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 gr...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.展开更多
基金supported by the National Natural Science Foundation for Distinguished Young Scholars of China (Grant No 60525303)the National Natural Science Foundation of China (Grant No 60704009)Doctor Fund of Yanshan University (Grant NoB203)
文摘This paper researched into some methods for generating min-weighted rigid graphs and min-weighted persistent graphs. Rigidity and persistence are currently used in various studies on coordination and control of autonomous multi-agent formations. To minimize the communication complexity of formations and reduce energy consumption, this paper introduces the rigidity matrix and presents three algorithms for generating rain-weighted rigid and min- weighted persistent graphs. First, the existence of a min-weighted rigid graph is proved by using the rigidity matrix, and algorithm 1 is presented to generate the min-weighted rigid graphs. Second, the algorithm 2 based on the rigidity matrix is presented to direct the edges of min-weighted rigid graphs to generate min-weighted persistent graphs. Third, the formations with range constraints are considered, and algorithm 3 is presented to find whether a framework can form a min-weighted persistent formation. Finally, some simulations are given to show the efficiency of our research.
基金supported by National Natural Science Foundation of China (No. 60934003, No. 61074065)Key Project for Natural Science Research of Hebei Education Department (No. ZD200908)
文摘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.
