Work

Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks

Year: 2025

Type: article

Abstract: This work presents a novel approach for bearing rigidity analysis and control in multi-robot networks with sensing constraints and dynamic topology. By decomposing the system’s framework into subframeworks, we express bearing rigidity—a global property—as a set of local properties, with rigidity eigenvalues serving as natural local rigidity measures. We propose a decentralized gradient-based controller to execute mission-specific commands using only bearing measurements. The controller preserves bearing rigidity by keeping the rigidity eigenvalues above a threshold, using only information exchanged within subframeworks. Simulations evaluate the scheme’s effectiveness, underscoring its scalability and practicality.

Source: IEEE Control Systems Letters

DOI: 10.1109/lcsys.2025.3580768

Authors: J. Francisco Presenza, Ignacio Mas, J. Ignacio Alvarez-Hamelin, Juan I. Giribet

Institutions: Universidad de Buenos Aires, Consejo Nacional de Investigaciones Científicas y Técnicas

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funder: Universidad de Buenos Aires

Award: G5876703273