Computer Science – Multiagent Systems
Scientific paper
2007-10-14
Computer Science
Multiagent Systems
1 zip file containing 1 .tex files, and 39 .eps files. The paper (including the appendix) contains 13 Figures
Scientific paper
This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the rigidity and persistence of meta-formations, which are formations obtained by connecting several rigid or persistent formations. Persistence is a generalization to directed graphs of the undirected notion of rigidity. In the context of moving autonomous agent formations, persistence characterizes the efficacy of a directed structure of unilateral distance constraints seeking to preserve a formation shape. We derive then, for agents evolving in a two- or three-dimensional space, the conditions under which a set of persistent formations can be merged into a persistent meta-formation, and give the minimal number of interconnections needed for such a merging. We also give conditions for a meta-formation obtained by merging several persistent formations to be persistent.
Anderson Brian D. O.
Fidan Baris
Hendrickx Julien M.
Yu Changbin
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