NDLI: Splitting rigid formations

Content Provider	IEEE Xplore Digital Library
Author	Ong, W. Changbin Yu Anderson, B.D.O.
Copyright Year	2009
Description	Author affiliation: Australian National University, Canberra ACT 2600, Australia (Changbin Yu) \|\| Australian National University and National ICT Australia, Australia (Anderson, B.D.O.) \|\| School of Mathematics and Statistics, the University of Western Australia, Crawley 6009, Australia (Ong, W.)
Abstract	Consider a network of sensors able to move in 2-dimensional space. We may aim to impose distance constraints between certain sensors to ensure every pair of sensors maintain their distance from one another under any continuous movement. This property is known as rigidity. Rigidity may be required to ensure that no sensor will move out of range of any other sensor during movement. However, there arise situations which require us to decompose a rigid formation into two or more rigid sub-formations, perhaps to avoid an obstacle, to pursue different missions, or to allow merging of part of the original formation with another formation. The paper demonstrates that it is not always possible to decompose a rigid formation into rigid sub-formations without adding new distance constraints. The paper also discusses how to decompose a formation into connected but not necessarily rigid sub-formations (to which edges could be added to ensure rigidity of the sub-formations). We show it is always possible to decompose a rigid formation into two connected sub-formations, one of which has arbitrary order, without the addition of any new distance constraints, and we present an algorithm to do this. Although the sub-formations may not be rigid, the connectedness property ensures that no agent or group of agents can deviate too far away from the rest of the agents in the same connected component, and any agent can communicate with any other agent (perhaps via intermediate agents) in the same sub-formation. This will allow rigidity to be recovered within each connected sub-formation by applying existing algorithms.
Starting Page	859
Ending Page	864
File Size	1123322
Page Count	6
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5400859
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Acoustic sensors Merging Receiving antennas Multiagent systems Robot sensing systems Orbital robotics Land vehicles Underwater vehicles Signal synthesis Signal resolution
Content Type	Text
Resource Type	Article

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