TY - GEN
T1 - Graph rigidity control of mobile robot networks
AU - Wang, Hua
AU - Yi, Guo
AU - Dong, Zhaoyang
PY - 2010
Y1 - 2010
N2 - Topology control on dynamic graphs is an important issue in multi-agent system applications. In this paper we study the rigidity control over dynamic graphs. Specifically, we consider a multi-robot system with a time varying communication network. By judging the rank of the rigidity matrix, we propose a centralized topology control law to guarantee that the system framework is rigid over time. We also propose a topology control law to guarantee that the system framework evolves into a minimally rigid framework in finite time. Simulation results show the feasibility of the proposed method.
AB - Topology control on dynamic graphs is an important issue in multi-agent system applications. In this paper we study the rigidity control over dynamic graphs. Specifically, we consider a multi-robot system with a time varying communication network. By judging the rank of the rigidity matrix, we propose a centralized topology control law to guarantee that the system framework is rigid over time. We also propose a topology control law to guarantee that the system framework evolves into a minimally rigid framework in finite time. Simulation results show the feasibility of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=77957877983&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77957877983&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2010.5524481
DO - 10.1109/ICCA.2010.5524481
M3 - Conference contribution
AN - SCOPUS:77957877983
SN - 9781424451951
T3 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
SP - 2218
EP - 2223
BT - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
T2 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
Y2 - 9 June 2010 through 11 June 2010
ER -