Related papers: Angle rigidity and its usage to stabilize planar f…
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
This work considers the problem of estimating the unscaled relative positions of a multi-robot team in a common reference frame from bearing-only measurements. Each robot has access to a relative bearing measurement taken from the local…
A fundamental problem that the bearing rigidity theory studies is to determine when a framework can be uniquely determined up to a translation and a scaling factor by its inter-neighbor bearings. While many previous works focused on the…
Graph rigidity theory studies the capability of a graph embedded in the Euclidean space to constrain its global geometric shape via local constraints among nodes and edges, and has been widely exploited in network localization and formation…
This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to…
In this paper, we develop a hybrid distance-angle rigidity theory that involves heterogeneous distances (or unsigned angles) and signed constraints for a framework in the 2-D and 3-D space. The new rigidity theory determines a (locally)…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case…
This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is…
This paper investigates the stability of distance-based \textit{flexible} undirected formations in the plane. Without rigidity, there exists a set of connected shapes for given distance constraints, which is called the ambit. We show that a…
A rigidity theory is developed for bar-joint frameworks in $\mathbb{R}^{d+1}$ whose vertices are constrained to lie on concentric $d$-spheres with independently variable radii. In particular, combinatorial characterisations are established…
In the literature on robotics and multibody dynamics, the concept of average angular velocity has received considerable attention in recent years. We address the question of whether the average angular velocity defines an orientation…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
A fundamental theorem of Laman characterises when a bar-joint framework realised generically in the Euclidean plane admits a non-trivial continuous deformation of its vertices. This has recently been extended in two ways. Firstly to…
Fixtures for constraining the movement of parts have been extensively investigated in robotics, since they are essential for using robots in automated manufacturing. This paper deals with the design and optimized synthesis of a special type…
By an undirected rigid formation of mobile autonomous agents is meant a formation based on graph rigidity in which each pair of "neighboring" agents is responsible for maintaining a prescribed target distance between them. In a recent paper…
A framework (a straight-line embedding of a graph into a normed space allowing edges to cross) is globally rigid if any other framework with the same edge lengths with respect to the chosen norm is an isometric copy. We investigate global…