Growing optimally rigid formations

Daniel Zelazo; Frank Allgower

doi:https://doi.org/10.1109/acc.2012.6315460

Growing optimally rigid formations

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

Abstract

This work extends the theory on rigid frameworks for formation keeping in multi-agent systems. We introduce the H₂ performance measure for relative sensing networks where the underlying sensing graph is rigid. The first contribution shows that the optimal H₂ sensing graph must be a minimally rigid graph. We then describe a variation of the Herrenberg construction for generating rigid graphs in the plane by adding performance requirements and sensing constraints, leading to the H₂ optimal vertex addition and edge splitting procedures. These results are then used to derive a centralized algorithm for generating an H₂ optimally rigid relative sensing network.

Original language	English
Title of host publication	2012 American Control Conference, ACC 2012
Pages	3901-3906
Number of pages	6
DOIs	https://doi.org/10.1109/acc.2012.6315460
State	Published - 2012
Externally published	Yes
Event	2012 American Control Conference, ACC 2012 - Montreal, QC, Canada Duration: 27 Jun 2012 → 29 Jun 2012

Publication series

Name	Proceedings of the American Control Conference

Conference

Conference	2012 American Control Conference, ACC 2012
Country/Territory	Canada
City	Montreal, QC
Period	27/06/12 → 29/06/12

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

https://doi.org/10.1109/acc.2012.6315460

Cite this

@inproceedings{bbeed6af02204bfeae11c56c40f56ce8,

title = "Growing optimally rigid formations",

abstract = "This work extends the theory on rigid frameworks for formation keeping in multi-agent systems. We introduce the H2 performance measure for relative sensing networks where the underlying sensing graph is rigid. The first contribution shows that the optimal H2 sensing graph must be a minimally rigid graph. We then describe a variation of the Herrenberg construction for generating rigid graphs in the plane by adding performance requirements and sensing constraints, leading to the H2 optimal vertex addition and edge splitting procedures. These results are then used to derive a centralized algorithm for generating an H2 optimally rigid relative sensing network.",

author = "Daniel Zelazo and Frank Allgower",

year = "2012",

doi = "https://doi.org/10.1109/acc.2012.6315460",

language = "الإنجليزيّة",

isbn = "9781457710957",

series = "Proceedings of the American Control Conference",

pages = "3901--3906",

booktitle = "2012 American Control Conference, ACC 2012",

note = "2012 American Control Conference, ACC 2012 ; Conference date: 27-06-2012 Through 29-06-2012",

}

TY - GEN

T1 - Growing optimally rigid formations

AU - Zelazo, Daniel

AU - Allgower, Frank

PY - 2012

Y1 - 2012

N2 - This work extends the theory on rigid frameworks for formation keeping in multi-agent systems. We introduce the H2 performance measure for relative sensing networks where the underlying sensing graph is rigid. The first contribution shows that the optimal H2 sensing graph must be a minimally rigid graph. We then describe a variation of the Herrenberg construction for generating rigid graphs in the plane by adding performance requirements and sensing constraints, leading to the H2 optimal vertex addition and edge splitting procedures. These results are then used to derive a centralized algorithm for generating an H2 optimally rigid relative sensing network.

AB - This work extends the theory on rigid frameworks for formation keeping in multi-agent systems. We introduce the H2 performance measure for relative sensing networks where the underlying sensing graph is rigid. The first contribution shows that the optimal H2 sensing graph must be a minimally rigid graph. We then describe a variation of the Herrenberg construction for generating rigid graphs in the plane by adding performance requirements and sensing constraints, leading to the H2 optimal vertex addition and edge splitting procedures. These results are then used to derive a centralized algorithm for generating an H2 optimally rigid relative sensing network.

UR - http://www.scopus.com/inward/record.url?scp=84869400944&partnerID=8YFLogxK

U2 - https://doi.org/10.1109/acc.2012.6315460

DO - https://doi.org/10.1109/acc.2012.6315460

M3 - منشور من مؤتمر

SN - 9781457710957

T3 - Proceedings of the American Control Conference

SP - 3901

EP - 3906

BT - 2012 American Control Conference, ACC 2012

T2 - 2012 American Control Conference, ACC 2012

Y2 - 27 June 2012 through 29 June 2012

ER -

Growing optimally rigid formations

Abstract

Publication series

Conference

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this