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Graph Rigidity and Distributed Formation Stabilization of Multi-Vehicle Systems (2002)
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| Venue: | Proceedings of the IEEE Int. Conference on Decision and Control |
| Citations: | 95 - 7 self |
BibTeX
@INPROCEEDINGS{Olfati-Saber02graphrigidity,
author = {Reza Olfati-Saber and Richard M. Murray},
title = {Graph Rigidity and Distributed Formation Stabilization of Multi-Vehicle Systems},
booktitle = {Proceedings of the IEEE Int. Conference on Decision and Control},
year = {2002},
pages = {2965--2971}
}
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Abstract
In this paper, we provide a graph theoretical framework that allows us to formally de ne formations of multiple vehicles and the issues arising in uniqueness of graph realizations and its connection to stability of formations. The notion of graph rigidity is crucial in identifying the shape variables of a formation and an appropriate potential function associated with the formation. This allows formulation of meaningful optimization or nonlinear control problems for formation stabilization/tacking, in addition to formal representation of split, rejoin, and recon guration maneuvers for multi-vehicle formations. We introduce an algebra that consists of performing some basic operations on graphs which allow creation of larger rigidby -construction graphs by combining smaller rigid subgraphs. This is particularly useful in performing and representing rejoin/split maneuvers of multiple formations in a distributed fashion.
Keyphrases
graph rigidity distributed formation stabilization multi-vehicle system graph realization basic operation graph theoretical framework nonlinear control problem meaningful optimization appropriate potential function multiple vehicle rigidby construction graph multi-vehicle formation ne formation rejoin split maneuver formation stabilization tacking guration maneuver distributed fashion rigid subgraphs multiple formation formal representation shape variable
