相关论文: Infinitesimal Weak Rigidity, Formation Control of …
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…
This paper discusses generalized weak rigidity theory, and aims to apply the theory to formation control problems with a gradient flow law. The generalized weak rigidity theory is utilized in order that desired formations are characterized…
This paper introduces new structures called conic frameworks and their rigidity. They are composed by agents and a set of directed constraints between pairs of agents. When the structure cannot be flexed while preserving the constraints, it…
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…
We explore the rigidity of generic frameworks in 3-dimensions whose underlying graph is close to being planar. Specifically we consider apex graphs, edge-apex graphs and their variants and prove independence results in the generic…
In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the…
In this paper, first the non-standard limit analysis 2D problem for reinforced masonry structures is suitably reformulated, giving a innovative computational framework for the evaluation of the strengthening effects of tensile…
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…
We give a combinatorial characterization of generic minimally rigid reflection frameworks. The main new idea is to study a pair of direction networks on the same graph such that one admits faithful realizations and the other has only…
For plane frameworks with reflection or rotational symmetries, where the group action is not necessarily free on the vertex set, we introduce a phase-symmetric orbit rigidity matrix for each irreducible representation of the group. We then…
A number of recent papers have studied when symmetry causes frameworks on a graph to become infinitesimally flexible, or stressed, and when it has no impact. A number of other recent papers have studied special classes of frameworks on…
We propose new symmetry-adapted rigidity matrices to analyze the infinitesimal rigidity of arbitrary-dimensional bar-joint frameworks with Abelian point group symmetries. These matrices define new symmetry-adapted rigidity matroids on…
There is a large variety of concepts used to generalize the classical Prandtl-Reuss relations of infinitesimal elasto-plasticity to finite strains. In this work, some basic approaches are compared in a qualitative way with respect to a…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
A rigidity theory is developed for bar-joint frameworks in linear matrix spaces endowed with a unitarily invariant norm. Analogues of Maxwell's counting criteria are obtained and minimally rigid matrix frameworks are shown to belong to 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…
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…
We show in this paper that a small subset of agents of a formation of n agents in Euclidean space can control the position and orientation of the entire formation. We consider here formations tasked with maintaining inter-agent distances at…
This article is concerned with the rigidity properties of geometric realizations of incidence geometries of rank two as points and lines in the Euclidean plane; we care about the distance being preserved among collinear points. We discuss…
The rigidity matrix is a fundamental tool for studying the infinitesimal rigidity properties of Euclidean bar-joint frameworks. In this paper we generalize this tool and introduce a rigidity matrix for bar-joint frameworks in arbitrary…