A Unified Dissertation on Bearing Rigidity Theory
Systems and Control
2021-03-24 v4 Multiagent Systems
Abstract
This work focuses on the bearing rigidity theory, namely the branch of knowledge investigating the structural properties necessary for multi-element systems to preserve the inter-units bearings when exposed to deformations. The original contributions are twofold. The first one consists in the definition of a general framework for the statement of the principal definitions and results that are then particularized by evaluating the most studied metric spaces, providing a complete overview of the existing literature about the bearing rigidity theory. The second one rests on the determination of a necessary and sufficient condition guaranteeing the rigidity properties of a given multi-element system, independently of its metric space.
Cite
@article{arxiv.1902.03101,
title = {A Unified Dissertation on Bearing Rigidity Theory},
author = {Giulia Michieletto and Angelo Cenedese and Daniel Zelazo},
journal= {arXiv preprint arXiv:1902.03101},
year = {2021}
}