Abstract
This paper studies a particular property of formation rigidity, which is termed infinitesimal sign rigidity, to specify multi-agent target formations using distance- and signed volume-constraints in 3-D space. In comparison with the conventional rigidity theory with distance constraints only, the concept of infinitesimal sign rigidity employs signed volume constraints to eliminate the possibility of formation ambiguity issues arising in 3-D space. Based on the property of infinitesimal sign rigidity, this paper explores a formation specification control law to achieve multi-agent formations with desired distances and signed volumes in 3-D space. It is shown that under the control law, agents close to a target formation can converge to a formation with desired distances and signed volumes exponentially fast.
| Original language | English |
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| Title of host publication | 2022 13th Asian Control Conference (ASCC) |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 1202-1207 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-89-93215-23-6 |
| DOIs | |
| Publication status | Published - 20 Jul 2022 |
| Event | 13th Asian Control Conference, ASCC 2022 - Jeju, Korea, Republic of Duration: 4 May 2022 → 7 May 2022 Conference number: 13 |
Conference
| Conference | 13th Asian Control Conference, ASCC 2022 |
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| Country/Territory | Korea, Republic of |
| City | Jeju |
| Period | 4/05/22 → 7/05/22 |
Bibliographical note
Funding Information:This work was supported by the National Research Foundation (NRF) of Korea under the grant NRF-2022R1A2B5B03001459.
Funding
ACKNOWLEDGMENT This work was supported by the National Research Foundation (NRF) of Korea under the grant NRF-2022R1A2B5B03001459.
Keywords
- Formation control
- multi-agent systems
- rigidity theory