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 min-weighted rigid and minweighted 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.
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)
关键词
自动化系统
矩阵
智能系统
控制方式
min-weighted persistent graph, rigidity matrix, minimally rigid graph, formation, multi-agent
