A comprehensive guide to formation control of multi-agent systems
using rigid graph theory
This book is the first to provide a comprehensive and unified treatment
of the subject of graph rigidity-based formation control of multi-agent
systems. Such systems are relevant to a variety of emerging engineering
applications, including unmanned robotic vehicles and mobile sensor
networks. Graph theory, and rigid graphs in particular, provides a
natural tool for describing the multi-agent formation shape as well as
the inter-agent sensing, communication, and control topology.
Beginning with an introduction to rigid graph theory, the contents of
the book are organized by the agent dynamic model (single integrator,
double integrator, and mechanical dynamics) and by the type of formation
problem (formation acquisition, formation manoeuvring, and target
interception). The book presents the material in ascending level of
difficulty and in a self-contained manner; thus, facilitating reader
understanding.
Key features:
- Uses the concept of graph rigidity as the basis for describing the
multi-agent formation geometry and solving formation control problems.
- Considers different agent models and formation control problems.
- Control designs throughout the book progressively build upon each
other.
- Provides a primer on rigid graph theory.
- Combines theory, computer simulations, and experimental results.
Formation Control of Multi-Agent Systems: A Graph Rigidity Approach is
targeted at researchers and graduate students in the areas of control
systems and robotics. Prerequisite knowledge includes linear algebra,
matrix theory, control systems, and nonlinear systems.
