Stiffness matrix and quantitative measure of formation rigidity

13 years 9 months ago

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— Rigidity of formation is an importance concept in multi-agent localization and control problems. There are welldeveloped existing methods to test the rigidity of a given graph. However, little work is done on quantitative measurement of formation rigidity. In this paper, we propose the stiffness matrix of a fomation representing both its rigidity and structural information, from which we then derive the worst-case rigidity index, as an applicable quantitative measure of formation rigidity. Its validity is shown through the illustration of its related properties, which conform to intuitive assumptions and practical applications.

Guangwei Zhu, Jianghai Hu

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