Fast Multiagent Formation Stabilization with Sparse Universally Rigid Frameworks
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866916917772550144 |
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| author | Li, Zhonggang Leus, Geert Rajan, Raj Thilak |
| author_facet | Li, Zhonggang Leus, Geert Rajan, Raj Thilak |
| contents | Affine formation control (AFC) is a distributed networked control system that has recently received increasing attention in various applications. AFC is typically achieved using a generalized consensus system where the stress matrix, which encodes the graph structure, is used instead of a graph Laplacian. Universally rigid frameworks (URFs) guarantee the existence of the stress matrix and have thus become the guideline for such a network design. In this work, we propose a convex optimization framework to design the stress matrix for AFC without predefining a rigid graph. We aim to find a resulting network with a reduced number of communication links, but still with a fast convergence speed. We show through simulations that our proposed solutions can yield a more sparse graph, while admitting a faster convergence compared to the state-of-the-art solutions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_18483 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Fast Multiagent Formation Stabilization with Sparse Universally Rigid Frameworks Li, Zhonggang Leus, Geert Rajan, Raj Thilak Systems and Control Signal Processing Affine formation control (AFC) is a distributed networked control system that has recently received increasing attention in various applications. AFC is typically achieved using a generalized consensus system where the stress matrix, which encodes the graph structure, is used instead of a graph Laplacian. Universally rigid frameworks (URFs) guarantee the existence of the stress matrix and have thus become the guideline for such a network design. In this work, we propose a convex optimization framework to design the stress matrix for AFC without predefining a rigid graph. We aim to find a resulting network with a reduced number of communication links, but still with a fast convergence speed. We show through simulations that our proposed solutions can yield a more sparse graph, while admitting a faster convergence compared to the state-of-the-art solutions. |
| title | Fast Multiagent Formation Stabilization with Sparse Universally Rigid Frameworks |
| topic | Systems and Control Signal Processing |
| url | https://arxiv.org/abs/2508.18483 |