Skip to main content
Article thumbnail
Location of Repository

Graph rigidity and distributed formation stabilization of multi-vehicle systems

By Reza Olfati-saber and Richard M. Murray

Abstract

CDC02-INV2103 In this paper, we provide a graph theoretical framework that allows us to formally define formations of multiple vehicles and the issues arising in graph realizations and unicity and their connections to stability of formations. The notion of graph rigidity is crucial in identifying the shape variables of a formation. This eventually leads to tools for formation stabilization, tacking, and formal representation of split, rejoin, and reconfiguration maneuvers for multi-vehicle formations. We introduce an algebra that consists of performing some basic operations on graphs which allow creation of larger rigid-byconstruction graphs by combining smaller rigid subgraphs. This is particularly useful in performing and representing rejoin/split maneuvers of multiple formations in a distributed fashion.

Year: 2002
OAI identifier: oai:CiteSeerX.psu:10.1.1.135.5505
Provided by: CiteSeerX
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • http://citeseerx.ist.psu.edu/v... (external link)
  • http://www.seas.ucla.edu/coopc... (external link)
  • Suggested articles


    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.