Graph rigidity control of mobile robot networks

Hua Wang, Guo Yi, Zhaoyang Dong

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2010 8th IEEE International Conference on Control and Automation, ICCA 2010
Pages2218-2223
Number of pages6
DOIs
StatePublished - 2010
Event2010 8th IEEE International Conference on Control and Automation, ICCA 2010 - Xiamen, China
Duration: 9 Jun 201011 Jun 2010

Publication series

Name2010 8th IEEE International Conference on Control and Automation, ICCA 2010

Conference

Conference2010 8th IEEE International Conference on Control and Automation, ICCA 2010
Country/TerritoryChina
CityXiamen
Period9/06/1011/06/10

Fingerprint

Dive into the research topics of 'Graph rigidity control of mobile robot networks'. Together they form a unique fingerprint.

Cite this