Subframework-based Bearing Rigidity Maintenance Control in Multirobot Networks
Abstract
This work presents a novel approach for bearing rigidity analysis and control in multi-robot networks with sensing constraints and dynamic topology. By decomposing the system's framework into subframeworks, we express bearing rigidity -- a global property -- as a set of local properties, with rigidity eigenvalues serving as natural 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.
Turn this paper into a full lesson
ArcXiv compiles a staged curriculum from this paper: 8-12 lessons across beginner → advanced, synthesised section guides, visuals, flashcards, a quiz, exercises, and on-demand deep dives per section. Grounded in the abstract, never invented.