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

Baris Fidan; Julien M Hendrick; Brian Anderson

doi:10.1109/MED.2009.5164578

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

Baris Fidan, Julien M Hendrick, Brian Anderson

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	Proceedings of Mediterranean Conference on Control and Automation 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	422-427
ISBN (Electronic)	978-1-4244-4685-8
ISBN (Print)	978-1-4244-4684-1
DOIs	https://doi.org/10.1109/MED.2009.5164578
Publication status	Published - 2009
Event	2009 17th Mediterranean Conference on Control and Automation - Thessaloniki, Greece Duration: 24 Jun 2009 → 26 Jun 2009

Conference

Conference	2009 17th Mediterranean Conference on Control and Automation
Abbreviated title	MED 2009
Country/Territory	Greece
City	Thessaloniki
Period	24/06/09 → 26/06/09

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10.1109/MED.2009.5164578

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title = "Edge Contraction Based Maintenance of Rigidity in Multi-Agent Formations During Agent Loss",

abstract = "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.",

author = "Baris Fidan and Hendrick, {Julien M} and Brian Anderson",

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doi = "10.1109/MED.2009.5164578",

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booktitle = "Proceedings of Mediterranean Conference on Control and Automation 2009",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2009 17th Mediterranean Conference on Control and Automation, MED 2009 ; Conference date: 24-06-2009 Through 26-06-2009",

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Fidan, B, Hendrick, JM & Anderson, B 2009, Edge Contraction Based Maintenance of Rigidity in Multi-Agent Formations During Agent Loss. in Proceedings of Mediterranean Conference on Control and Automation 2009. Institute of Electrical and Electronics Engineers Inc., pp. 422-427, 2009 17th Mediterranean Conference on Control and Automation, Thessaloniki, Greece, 24/06/09. https://doi.org/10.1109/MED.2009.5164578

Edge Contraction Based Maintenance of Rigidity in Multi-Agent Formations During Agent Loss. / Fidan, Baris; Hendrick, Julien M; Anderson, Brian.
Proceedings of Mediterranean Conference on Control and Automation 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 422-427.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - 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.

AB - 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.

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M3 - Conference contribution

SN - 978-1-4244-4684-1

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BT - Proceedings of Mediterranean Conference on Control and Automation 2009

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2009 17th Mediterranean Conference on Control and Automation

Y2 - 24 June 2009 through 26 June 2009

ER -

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

Abstract

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