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In this paper we study the robustness of information architectures to control a formation of autonomous agents. If agents are expected to work in hazardous environments like battle-fields, the formations are prone to multiple agent/link loss. Due to the higher severity of agent loss than link loss, the main contribution of this paper is to propose information architectures for shape-controlled multi-agent...
In this paper, we study the construction and transformation of 2-D persistent graphs. Persistence is a generalization to directed graphs of the undirected notion of rigidity. Both notions are currently being used in various studies on coordination and control of autonomous multiagent formations. In the context of mobile autonomous agent formations, persistence characterizes the efficacy of a directed...
This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the persistence of meta-formations, which are formations obtained by connecting several persistent formations. Persistence is a generalization to directed graphs of the undirected notion of rigidity. In the context of moving autonomous agent formations, persistence characterizes...
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