On Invariance of Cyclic Group Symmetries in Multiagent Formations
Joshua A. Marshall, Mireille E. Broucke · 2006
This paper explores how the interconnection topology among individuals of a multiagent system influences symmetry in its trajectories. It is shown how circulant connectivity preserves cyclic group symmetries in a formation of simple planar integrators. Moreover, it is revealed to what extent circulant connectivity is necessary in order that symmetric formations remain invariant under the system's dynamics.