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Stiffness matrix and quantitative measure of formation rigidity
2009
Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference
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Rigidity of formation is an importance concept in multi-agent localization and control problems. There are welldeveloped existing methods to test the rigidity of a given graph. However, little work is done on quantitative measurement of formation rigidity. In this paper, we propose the stiffness matrix of a fomation representing both its rigidity and structural information, from which we then derive the worst-case rigidity index, as an applicable quantitative measure of formation rigidity. Its
doi:10.1109/cdc.2009.5400387
dblp:conf/cdc/ZhuH09
fatcat:iccwhv6puva3lip67s3hki6tha