Unified Formulation of Multiagent Coordination With Relative Measurements

• 成果类型: Article
• 署名作者: Sakurama, Kazunori
• 署名单位: Kyoto University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3030761
• 发表日期: 2021
• 页码: 4101-4116
• 关键词: Task analysis; Extraterrestrial measurements; Network topology; RIGIDITY; Multi-agent systems; decentralized control; Sea measurements; Distributed control; Formation control; multiagent systems; relative measurement

摘要

This article provides a unified solution to a general coordination problem of multiagent systems with relative measurements, including uncertain transformations in translation, rotation, reflection, and scale. First, we introduce relative measurements described by a matrix group expressing such transformations in a unified way. Then, we derive a necessary, and sufficient condition to achieve a coordination task by relative, distributed control according to a network topology, and a class of measurement information. Especially, a strict class of all realizable coordination tasks is characterized with an orbit associated with the transformation matrix group on measurement. Next, we show that the network topology required to coordination is the clique rigidity. Then, the clique rigidity for concrete coordination tasks is associated with conventional connectivity, e.g., connectedness and rigidity. Moreover, an intuitive condition is derived as a connectivity condition of the intersection graph of the maximal cliques (i.e., complete subgraphs). Finally, the new method is applied to formation control with unknown, heterogeneous scale factors and its effectiveness is demonstrated through simulations for both 2-D and 3-D spaces.