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This work focuses on the construction of rigid formation from non-rigid ones in the two-dimensional space. Analogously to operations of Henneberg sequence aiming to guarantee the minimal rigidity of formation, two new operations are introduced, allowing one to sequentially build any rigid graph by connecting non-rigid ones. A systematic construction sequence is developed based on proposed operations,...
Inspired by natural swarming and flocking behaviors, in this paper we study a series of problems concerning motion control for autonomous multiagent formations moving in a two dimensional space and avoiding collision with each other as well as obstacles. We give a hierarchical task map and argue that if the formation is kept rigid via implementation of certain distance maintenance constraints, then...
Inspired by the recent “Robot Sheepdog Project” in the literature, in this paper a new method for coordination of multi-agent systems moving in a 2-dimensional region with the obstacles along a collision free trajectory is presented. A two level decentralized control scheme is proposed. At lower level, for the agents within the formation, “the sheep”, the only concern is to keep that of their formation...
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