Ratio-of-distance rigidity theory with application to similar formation control

• Main Authors: Cao, Kun, Han, Zhimin, Li, Xiuxian, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering; Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics; Formation Control; Rigidity Theory
• Online Access: https://hdl.handle.net/10356/146205
• Institution: Nanyang Technological University

This paper develops a ratio-of-distance (RoD) rigidity theory to study when a framework can be uniquely determined by a set of RoD constraints up to similar transformations (translation, rotation, scaling, and reflection). In particular, a framework is specified by a set of RoD constraints (the RoD...