Graph rigidity control of mobile robot networks

Abstract

Topology control on dynamic graphs is an important issue in multi-agent system applications. In this paper we study the rigidity control over dynamic graphs. Specifically, we consider a multi-robot system with a time varying communication network. By judging the rank of the rigidity matrix, we propose a centralized topology control law to guarantee that the system framework is rigid over time. We also propose a topology control law to guarantee that the system framework evolves into a minimally rigid framework in finite time. Simulation results show the feasibility of the proposed method.