Formation Control of Multi-Agent Systems —— A Graph Rigidity Approach

----- 多智能体系统的编队控制

ISBN: 9781118887455 出版年：2018 页码：207 Marcio de Queiroz Xiaoyu Cai Wiley

Formation Control of Multi-Agent Systems: A Graph Rigidity Approach Marcio de Queiroz, Louisiana State University, USA Xiaoyu Cai, FARO Technologies, USA Matthew Feemster, U.S. Naval Academy, USA   A comprehensive guide to formation control of multi-agent systems using rigid graph theory   This book is the first to provide a comprehensive and unified treatment of the subject of graph rigidity-based formation control of multi-agent systems. Such systems are relevant to a variety of emerging engineering applications, including unmanned robotic vehicles and mobile sensor networks. Graph theory, and rigid graphs in particular, provides a natural tool for describing the multi-agent formation shape as well as the inter-agent sensing, communication, and control topology. Beginning with an introduction to rigid graph theory, the contents of the book are organized by the agent dynamic model (single integrator, double integrator, and mechanical dynamics) and by the type of formation problem (formation acquisition, formation manoeuvring, and target interception).