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This paper addresses the problem of robust topology design of the multi-UAV formation. We use a digraph to model the topology of the multi-UAV formation, and propose the definition of anti-k-communication-destroying topology, meaning the system can still performs normally even when any arbitrary k communicating links are destroyed. By exploring the property of this kind of topology based on graph...
The problems of coordination of multiagent systems with second-order locally Lipschitz continuous nonlinear dynamics under directed interaction topology are investigated in this paper. A completely nonlinear input-to-state stability (ISS)-based framework, drawing on ISS methods, with the aid of results from graph theory, matrix theory, and the ISS cyclic-small-gain theorem, is proposed for the coordination...
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