Stiffness Matrix and Quantitative Measure of Formation Rigidity

被引：17

作者：

Zhu, Guangwei

Hu, Jianghai

机构：

来源：

PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) | 2009年

关键词：

REALIZATIONS; SYSTEMS; GRAPHS;

D O I：

10.1109/CDC.2009.5400387

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Rigidity of formation is an important concept in multi-agent localization and control problems. There are well-developed existing methods to test rigidity of a given graph. However, little work is done on quantitative measurement of formation rigidity. In this paper, the concept of stiffness matrix of a formation is proposed to represent both its rigidity and structural information, from which we then derive the worstcase rigidity index that can be used as an applicable quantitative measure of formation rigidity. Its validity is shown through the establishment of its related properties that conform to intuitive assumptions and practical applications as well as some examples.

引用

页码：3057 / 3062

页数：6