1 research outputs found
Control of Formations with Non-rigid and Hybrid Graphs
This thesis studies the problem of control of multi-agent
formations, of which the interaction architectures can be modeled
by undirected and directed graphs or a mixture of the two (hybrid
graphs). The algorithms proposed in this thesis can be applied to
control the architectures of multi-agent systems or sensor
networks, and the developed control laws can be employed in the
autonomous agents of various types within multi-agent systems.
This thesis discusses two major issues. The first tackles
formations with undirected and directed underlying graphs, more
specifically, the problems of rigidity restoration and
persistence verification for multi-agent formations are studied.
The second discusses the control of formations with both
undirected and directed interaction architectures (hybrid
formations) by distance-based control methods. The main
contributions of this thesis are: definition of spindle agent and
basic graphs for non-rigid undirected graphs, development of new
operations for the constructions of undirected and directed
graphs, design of graph rigidity restoration strategy by merging
two or more non-rigid graphs, development of new persistence
analysis strategy for arbitrary directed graphs, definition and
investigation of hybrid formations and the underlying hybrid
graphs, verification of persistence and minimal persistence for
hybrid graphs, as well as the control of persistent hybrid
formations by distance-based approaches