摘要
这份报纸集中于多代理人系统(质量) 的 formability。这个问题涉及有能力驾驶包含到需要的形成的 MAS 的一个协议的存在，并且这样，具有在设计形成协议的必要重要性。Formability 一妈取决于几个关键因素：动态结构，连接拓扑学，需要的形成的性质和可被考虑的控制设置了的代理人。这里考虑的团的代理人被一个将军描述连续线性时间不变(LTI ) 当模特儿。由使用矩阵分析和代数学的图理论， LTI 团的 formability 上的一些必要、足够的条件被获得。这些条件关于一些典型、广泛地使用的可被考虑的协议集合在某感觉描绘 formability，连接拓扑学，形成性质和代理人动力学的关系。
This paper is focused on formability of multi-agent systems （MASs）. The problem is concerned with the existence of a protocol that has the ability to drive the MAS involved to the desired formation, and thus, is of essential importance in designing formation protocols. Formability of an MAS depends on several key factors： agents＇ dynamic structures, connectivity topology, properties of the desired formation and the admissible control set. Agents of the MASs considered here are described by a general continuous linear time-invariant （LTI） model. By using the matrix analysis and algebraic graph theory, some necessary and sufficient conditions on formability of LTI-MASs are obtained. These conditions characterize in some sense the relationship of formability, connectivity topology, formation properties and agent dynamics with respect to some typical and widely used admissible protocol sets.
基金
supported by the National Nature Science Foundation of China under Grants Nos.60934006 and 61104136
the Shandong Provincial Natural Science Foundation under Grant No.ZR2010FQ002
the School Foundation of Qufu Normal University under Grant No.XJ200913
the Scientific Research Foundation of Qufu Normal University
