Related papers: Conic Frameworks Infinitesimal Rigidity
Autonomous agents are promising in applications such as intelligent transportation and smart manufacturing, and scheduling of agents has to take their inertial constraints into consideration. Most current researches require the obedience of…
We define periodic frameworks as graphs on the torus, using the language of gain graphs. We present some fundamental definitions and results about the infinitesimal rigidity of graphs on a torus of fixed size and shape, and find necessary…
We provide a way of determining the infinitesimal rigidity of rod configurations realizing a rank two incidence geometry in the Euclidean plane. We model each rod with a cone over its point set and prove that the resulting geometric…
Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for reaching a unique formation with the same…
In this paper we consider the effect of symmetry on the rigidity of bar-joint frameworks, spherical frameworks and point-hyperplane frameworks in $\mathbb{R}^d$. In particular we show that, under forced or incidental symmetry, infinitesimal…
The mathematical theory of rigidity of body-bar and body-hinge frameworks provides a useful tool for analyzing the rigidity and flexibility of many articulated structures appearing in engineering, robotics and biochemistry. In this paper we…
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…
We prove that if a framework of a graph is neighborhood affine rigid in $d$-dimensions (or has the stronger property of having an equilibrium stress matrix of rank $n-d-1$) then it has an affine flex (an affine, but non Euclidean, transform…
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…
We present sufficient conditions so that a conformal map between planar domains whose boundary components are Jordan curves or points has a continuous or homeomorphic extension to the closures of the domains. Our conditions involve the…
A Coxeter system is called two-dimensional if its associated Davis complex is two-dimensional (equivalently, every spherical subgroup has rank less than or equal to 2). We prove that given a two-dimensional system (W,S) and any other system…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
This work considers the distance constrained formation control problem with an additional constraint requiring that the formation exhibits a specified spatial symmetry. We employ recent results from the theory of symmetry-forced rigidity to…
An introduction and survey is given of some recent work on the infinitesimal dynamics of \textit{crystal frameworks}, that is, of translationally periodic discrete bond-node structures in $\mathbb{R}^d$, for $ d=2,3,...$. We discuss the…
Necessary and sufficient conditions for convexity and strong convexity, respectively, of sublevel sets that are defined by finitely many real-valued $C^{1,1}$-maps are presented. A novel characterization of strongly convex sets in terms of…
Convex geometries are closure systems satisfying the anti-exchange axiom. Every finite convex geometry can be embedded into a convex geometry of finitely many points in an n-dimensional space equipped with a convex hull operator, by the…
In this paper, we combine separate works on (a) the transfer of infinitesimal rigidity results from an Euclidean space to the next higher dimension by coning, (b) the further transfer of these results to spherical space via associated…
We study the bar-and-joint frameworks in $\mathbb{R}^2$ such that some vertices are constrained to lie on some lines. The generic rigidity of such frameworks is characterised by Streinu and Theran (2010). Katoh and Tanigawa (2013) remarked…
This paper makes the following original contributions. First, we develop a unifying framework for testing shape restrictions based on the Wald principle. The test has asymptotic uniform size control and is uniformly consistent. Second, we…
We present a survey of results concerning the use of inductive constructions to study the rigidity of frameworks. By inductive constructions we mean simple graph moves which can be shown to preserve the rigidity of the corresponding…