Growing optimally rigid formations
Daniel Zelazo, Frank Allgöwer · 2012
This work extends the theory on rigid frameworks for formation keeping in multi-agent systems. We introduce the H2performance measure for relative sensing networks where the underlying sensing graph is rigid. The first contribution shows that the optimal H2sensing graph must be a minimally rigid graph. We then describe a variation of the Herrenberg construction for generating rigid graphs in the plane by adding performance requirements and sensing constraints, leading to the H2optimal vertex addition and edge splitting procedures. These results are then used to derive a centralized algorithm for generating an H2optimally rigid relative sensing network.