Edge Contraction Based Maintenance of Rigidity in Multi-Agent Formations During Agent Loss

被引：1
|
作者：
Fidan, Baris [1 ,2 ]
Hendrickx, Julien M. [3 ,4 ]
Anderson, Brian D. O. [1 ,2 ]
机构：
[1] NICTA, Canberra, ACT, Australia
[2] Australian Natl Univ, Res Sch Informat Sci & Engn, Canberra, ACT, Australia
[3] MIT, Informat & Decis Syst Lab, Cambridge, MA USA
[4] Catholic Univ Louvain, Dept Engn Math, Louvain, Belgium
来源：
MED: 2009 17TH MEDITERRANEAN CONFERENCE ON CONTROL & AUTOMATION, VOLS 1-3 | 2009年
基金：
澳大利亚研究理事会;
关键词：
D O I：
10.1109/MED.2009.5164578
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a systematic approach to the problem of restoring rigidity after loss of an agent, for two-dimensional rigid multi-agent formations based on a particular graph operation, the edge contraction operation. A rigidity maintenance method is proposed, for the cases where an agent is lost in an arbitrary two-dimensional rigid formation, to restore rigidity by transferring all links to which this agent was incident on to one of its neighbors. From a graph theoretical point of view, this corresponds to contraction of a certain edge incident to the vertex representing the agent being lost.
引用
收藏
页码：422 / 427
页数：6
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