Abstract
This paper is concerned with rigid formations of mobile autonomous agents that have leader-follower architecture. In a previous paper, Baillieul and Suri gave a proposition as a necessary condition for stable rigidity. They also gave a separate theorem as a sufficient condition for stable rigidity. This paper suggests an approach to analyze rigid formations that have leader-follower architecture. It proves that the third condition in the proposition given by Baillieul and Suri is redundant, and it proves that this proposition is a necessary and sufficient condition for stable rigidity. Simulation results are also presented to illustrate rigidity.
Original language | English |
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Article number | ThC04.1 |
Pages (from-to) | 2966-2971 |
Number of pages | 6 |
Journal | Proceedings of the American Control Conference |
Volume | 4 |
Publication status | Published - 2005 |
Event | 2005 American Control Conference, ACC - Portland, OR, United States Duration: 8 Jun 2005 → 10 Jun 2005 |