Universally Rigid Framework Attachments

A framework is a graph and a map from its vertices to R^d. A framework is called universally rigid if there is no other framework with the same graph and edge lengths in R^d' for any d'. A framework attachment is a framework constructed by joining two frameworks on a subset of vertices. We consider an attachment of two universally rigid frameworks that are in general position in R^d. We show that the number of vertices in the overlap between the two frameworks must be sufficiently large in order for the attachment to remain universally rigid. Furthermore, it is shown that universal rigidity of such frameworks is preserved even after removing certain edges. Given positive semidefinite stress matrices for each of the two initial frameworks, we analytically derive the PSD stress matrices for the combined and edge-reduced frameworks. One of the benefits of the results is that they provide a general method for generating new universally rigid frameworks.Comment: 16 pages, 4 figure

Robustness issues in double-integrator undirected rigid formation systems

In this paper we consider rigid formation control systems modelled by double integrators (including formation stabilization systems and flocking control systems), with a focus on their robustness property in the presence of distance mismatch. By introducing additional state variables we show the augmented double-integrator distance error system is self-contained, and we prove the exponential stability of the distance error systems via linearization analysis. As a consequence of the exponential stability, the distance error still converges in the presence of small and constant distance mismatches, while additional motions of the resulted formation will occur. We further analyze the rigid motions induced by constant mismatches for both double-integrator formation stabilisation systems and flocking control systems.This work was supported by the Australian Research Council (ARC) under grant DP130103610 and DP160104500. Z. Sun was supported by the Australian Prime Minister's Endeavour Postgraduate Award from Australian Government. The work of S. Mou was supported by funding from Northrop Grumman Corporation

Degeneracy Algorithm for Random Magnets

It has been known for a long time that the ground state problem of random magnets, e.g. random field Ising model (RFIM), can be mapped onto the max-flow/min-cut problem of transportation networks. I build on this approach, relying on the concept of residual graph, and design an algorithm that I prove to be exact for finding all the minimum cuts, i.e. the ground state degeneracy of these systems. I demonstrate that this algorithm is also relevant for the study of the ground state properties of the dilute Ising antiferromagnet in a constant field (DAFF) and interfaces in random bond magnets.Comment: 17 pages(Revtex), 8 Postscript figures(5color) to appear in Phys. Rev. E 58, December 1st (1998