Automatic generation of min-weighted persistent formations  

作　　者：罗小元 李绍宝 关新平 

机构地区：[1]Department of Electrical Engineering,Yanshan University

出　　处：《Chinese Physics B》2009年第8期3104-3114,共11页中国物理B（英文版）

基　　金：supported by the National Natural Science Foundation for Distinguished Young Scholars of China (Grant No 60525303);the National Natural Science Foundation of China (Grant No 60704009);Doctor Fund of Yanshan University (Grant NoB203)

摘　　要：This paper researched into some methods for generating min-weighted rigid graphs and min-weighted persistent graphs. Rigidity and persistence are currently used in various studies on coordination and control of autonomous multi-agent formations. To minimize the communication complexity of formations and reduce energy consumption, this paper introduces the rigidity matrix and presents three algorithms for generating rain-weighted rigid and min- weighted persistent graphs. First, the existence of a min-weighted rigid graph is proved by using the rigidity matrix, and algorithm 1 is presented to generate the min-weighted rigid graphs. Second, the algorithm 2 based on the rigidity matrix is presented to direct the edges of min-weighted rigid graphs to generate min-weighted persistent graphs. Third, the formations with range constraints are considered, and algorithm 3 is presented to find whether a framework can form a min-weighted persistent formation. Finally, some simulations are given to show the efficiency of our research.This paper researched into some methods for generating min-weighted rigid graphs and min-weighted persistent graphs. Rigidity and persistence are currently used in various studies on coordination and control of autonomous multi-agent formations. To minimize the communication complexity of formations and reduce energy consumption, this paper introduces the rigidity matrix and presents three algorithms for generating rain-weighted rigid and min- weighted persistent graphs. First, the existence of a min-weighted rigid graph is proved by using the rigidity matrix, and algorithm 1 is presented to generate the min-weighted rigid graphs. Second, the algorithm 2 based on the rigidity matrix is presented to direct the edges of min-weighted rigid graphs to generate min-weighted persistent graphs. Third, the formations with range constraints are considered, and algorithm 3 is presented to find whether a framework can form a min-weighted persistent formation. Finally, some simulations are given to show the efficiency of our research.

关 键 词：min-weighted persistent graph rigidity matrix minimally rigid graph formation multi-agent 

分 类 号：O157.5[理学—数学]