Rigidity and persistence of meta-formations

Julien M. Hendrickx; Changbin Yu; Fidan Bans; Brian D.O. Anderson

doi:10.1109/cdc.2006.377389

Rigidity and persistence of meta-formations

Julien M. Hendrickx^*, Changbin Yu, Fidan Bans, Brian D.O. Anderson

^*Corresponding author for this work

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

13 Citations (Scopus)

Abstract

This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the persistence of meta-formations, which are formations obtained by connecting several persistent formations. Persistence is a generalization to directed graphs of the undirected notion of rigidity. In the context of moving autonomous agent formations, persistence characterizes the efficacy of a directed structure of unilateral distance constraints seeking to preserve a formation shape. We derive then, for agents evolving in a two- or three-dimensional space, the conditions under which a set of persistent formations can be merged into a persistent meta-formation, and give the minimal number of interconnections needed for such a merging. We also give conditions for a meta-formation obtained by merging several persistent formations to be persistent.

Original language	English
Title of host publication	Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5980-5985
Number of pages	6
ISBN (Print)	1424401712, 9781424401710
DOIs	https://doi.org/10.1109/cdc.2006.377389
Publication status	Published - 2006
Event	45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States Duration: 13 Dec 2006 → 15 Dec 2006

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	45th IEEE Conference on Decision and Control 2006, CDC
Country/Territory	United States
City	San Diego, CA
Period	13/12/06 → 15/12/06

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10.1109/cdc.2006.377389

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Hendrickx, J. M., Yu, C., Bans, F., & Anderson, B. D. O. (2006). Rigidity and persistence of meta-formations. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 5980-5985). Article 4177460 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/cdc.2006.377389

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title = "Rigidity and persistence of meta-formations",

abstract = "This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the persistence of meta-formations, which are formations obtained by connecting several persistent formations. Persistence is a generalization to directed graphs of the undirected notion of rigidity. In the context of moving autonomous agent formations, persistence characterizes the efficacy of a directed structure of unilateral distance constraints seeking to preserve a formation shape. We derive then, for agents evolving in a two- or three-dimensional space, the conditions under which a set of persistent formations can be merged into a persistent meta-formation, and give the minimal number of interconnections needed for such a merging. We also give conditions for a meta-formation obtained by merging several persistent formations to be persistent.",

author = "Hendrickx, {Julien M.} and Changbin Yu and Fidan Bans and Anderson, {Brian D.O.}",

year = "2006",

doi = "10.1109/cdc.2006.377389",

language = "English",

isbn = "1424401712",

series = "Proceedings of the IEEE Conference on Decision and Control",

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

pages = "5980--5985",

booktitle = "Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC",

address = "United States",

note = "45th IEEE Conference on Decision and Control 2006, CDC ; Conference date: 13-12-2006 Through 15-12-2006",

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Hendrickx, JM, Yu, C, Bans, F & Anderson, BDO 2006, Rigidity and persistence of meta-formations. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177460, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 5980-5985, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 13/12/06. https://doi.org/10.1109/cdc.2006.377389

Rigidity and persistence of meta-formations. / Hendrickx, Julien M.; Yu, Changbin; Bans, Fidan et al.
Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. p. 5980-5985 4177460 (Proceedings of the IEEE Conference on Decision and Control).

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

TY - GEN

T1 - Rigidity and persistence of meta-formations

AU - Hendrickx, Julien M.

AU - Yu, Changbin

AU - Bans, Fidan

AU - Anderson, Brian D.O.

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N2 - This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the persistence of meta-formations, which are formations obtained by connecting several persistent formations. Persistence is a generalization to directed graphs of the undirected notion of rigidity. In the context of moving autonomous agent formations, persistence characterizes the efficacy of a directed structure of unilateral distance constraints seeking to preserve a formation shape. We derive then, for agents evolving in a two- or three-dimensional space, the conditions under which a set of persistent formations can be merged into a persistent meta-formation, and give the minimal number of interconnections needed for such a merging. We also give conditions for a meta-formation obtained by merging several persistent formations to be persistent.

AB - This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the persistence of meta-formations, which are formations obtained by connecting several persistent formations. Persistence is a generalization to directed graphs of the undirected notion of rigidity. In the context of moving autonomous agent formations, persistence characterizes the efficacy of a directed structure of unilateral distance constraints seeking to preserve a formation shape. We derive then, for agents evolving in a two- or three-dimensional space, the conditions under which a set of persistent formations can be merged into a persistent meta-formation, and give the minimal number of interconnections needed for such a merging. We also give conditions for a meta-formation obtained by merging several persistent formations to be persistent.

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DO - 10.1109/cdc.2006.377389

M3 - Conference contribution

SN - 1424401712

SN - 9781424401710

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 5980

EP - 5985

BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 45th IEEE Conference on Decision and Control 2006, CDC

Y2 - 13 December 2006 through 15 December 2006

ER -

Rigidity and persistence of meta-formations

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