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This paper proposes a systematic approach to the problem of restoring rigidity after loss of an agent, for two-dimensional rigid multi-agent formations based on a particular graph operation, the edge contraction operation. A rigidity maintenance method is proposed, for the cases where an agent is lost in an arbitrary two-dimensional rigid formation, to restore rigidity by transferring all links to...
Consensus algorithms have been studied with the aid of algebraic graph theory. This paper studies the effect of an edge reduction scheme on consensus behavior of multi-robot systems. With this edge reduction scheme, robots in the network can reach a consensus on certain coordination variables with fewer interactions and less computational effort.
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