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Rigidity-Based Multiagent Layered Formation Control
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DOI：10.1109/TCYB.2016.2568164.png)
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Abstract
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This paper provides a solution to the nonplanar multiagent formation control problem using graph rigidity. We consider a 3-D multiagent formation control where multiple agents are operating in one plane and some other agents are operating outside of that plane. This can be referred to as a layered formation control where the objective is for all agents to cooperatively acquire a predefined formation shape using a decentralized control law. The proposed control strategy is based on regulating the interagent distances. A rigorous stability analysis is presented that guarantees convergence of these distances to desired values. Simulation results are presented to support the theoretical results.
Keywords:
Formation control
Lyapunov stability
multiagent control
rigid graphs
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