2025/04/23 by Presenza, J. Francisco, Mas, Ignacio, Alvarez-Hamelin, J. Ignacio +1
#FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2504.17103
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.