Stiffness matrix and quantitative measure of formation rigidity

— Rigidity of formation is an importance concept in multi-agent localization and control problems. There are welldeveloped existing methods to test the rigidity of a given graph. However, little work is done on quantitative measurement of formation rigidity. In this paper, we propose the stiffness matrix of a fomation representing both its rigidity and structural information, from which we then derive the worst-case rigidity index, as an applicable quantitative measure of formation rigidity. Its validity is shown through the illustration of its related properties, which conform to intuitive assumptions and practical applications.

• Type: Conference
• Year: 2009
• Where: CDC
• Authors: Guangwei Zhu, Jianghai Hu
• Keywords: CDC 2009, Control Systems, Formation Rigidity, Rigidity, Worst-case Rigidity Index