Subframework-based Bearing Rigidity Maintenance Control in Multirobot Networks
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866916884618674176 |
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| author | Presenza, J. Francisco Mas, Ignacio Alvarez-Hamelin, J. Ignacio Giribet, Juan I. |
| author_facet | Presenza, J. Francisco Mas, Ignacio Alvarez-Hamelin, J. Ignacio Giribet, Juan I. |
| contents | This work presents a novel approach for \textit{bearing rigidity} analysis and control in multi-robot networks with sensing constraints and dynamic topology. By decomposing the system's framework into \textit{subframeworks}, we express bearing rigidity -- a global property -- as a set of \textit{local} properties, with rigidity eigenvalues serving as natural \textit{local rigidity measures}. We propose a decentralized gradient-based controller to execute mission-specific commands using only bearing measurements. The controller preserves bearing rigidity by keeping the rigidity eigenvalues above a threshold, using only information exchanged within subframeworks. Simulations evaluate the scheme's effectiveness, underscoring its scalability and practicality. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_17103 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Subframework-based Bearing Rigidity Maintenance Control in Multirobot Networks Presenza, J. Francisco Mas, Ignacio Alvarez-Hamelin, J. Ignacio Giribet, Juan I. Robotics Systems and Control This work presents a novel approach for \textit{bearing rigidity} analysis and control in multi-robot networks with sensing constraints and dynamic topology. By decomposing the system's framework into \textit{subframeworks}, we express bearing rigidity -- a global property -- as a set of \textit{local} properties, with rigidity eigenvalues serving as natural \textit{local rigidity measures}. We propose a decentralized gradient-based controller to execute mission-specific commands using only bearing measurements. The controller preserves bearing rigidity by keeping the rigidity eigenvalues above a threshold, using only information exchanged within subframeworks. Simulations evaluate the scheme's effectiveness, underscoring its scalability and practicality. |
| title | Subframework-based Bearing Rigidity Maintenance Control in Multirobot Networks |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2504.17103 |