Rigidity and Persistence of Directed Graphs

  title={Rigidity and Persistence of Directed Graphs},
  author={J. Hendrickx and B. Anderson and V. D. Blondel},
  journal={Proceedings of the 44th IEEE Conference on Decision and Control},
Motivated by [1], [2] and [3], we consider here formations of autonomous agents in a 2-dimensional space. Each agent tries to maintain its distances toward a pre-specified group of other agents constant, and the problem is to determine if one can guarantee that the structure of the formation will persist, i.e., if the distance between any pair of agents will remain constant. A natural way to represent such a formation is to use a directed graph. We provide a theoretical framework for this… CONTINUE READING
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