Subframework-based rigidity control in multirobot networks

FRANCISCO PRESENZA; J. IGNACIO ALVAREZ-HAMELIN; IGNACIO MAS; JUAN I. GIRIBET

Atlanta

Congreso; 2022 American Control Conference (ACC); 2022

American Automatic Control Council (AACC)

This paper presents an alternative approach foranalyzing distance-based rigidity in networks of mobile agents,based on a subframework scheme. The advantage of this point ofview lies in expressing framework rigidity, which is inherentlyglobal, as a localized property. Also, we show that the normalizedrigidity eigenvalue of a framework degrades as the diameter ofa network increases. Thus, the rigidity eigenvalues associated tothe subframeworks arise naturally as localized rigidity metrics.A decentralized subframework-based controller for maintainingrigidity using only range measurements is developed, whichis also aimed to minimize the network?s communication load.Finally, we show that the information exchange required by thecontroller is completed in a finite number of iterations, showingthe convenience of the proposed scheme.