Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 23, Issue 4, Pages 693-703Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2007.900638
Keywords
connected graphs; formation control; graph Laplacian; multiagent coordination
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This paper addresses the connectedness issue in multiagent coordination, i.e., the problem of ensuring that a group of mobile agents stays connected while achieving some performance objective. In particular, we study the rendezvous and the formation control problems over dynamic interaction graphs, and by adding appropriate weights to the edges in the graphs, we guarantee that the graphs stay connected.
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