Rigidity-Based Multiagent Layered Formation Control
提出一种基于图刚性的非平面多智能体分层编队控制方法，通过调节智能体间距离实现三维空间中的编队形状收敛，适用于分布式控制场景。
This paper provides a solution to the nonplanar multiagent formation control problem using graph rigidity. We consider a 3-D multiagent formation control where multiple agents are operating in one plane and some other agents are operating outside of that plane. This can be referred to as a layered formation control where the objective is for all agents to cooperatively acquire a predefined formation shape using a decentralized control law. The proposed control strategy is based on regulating the interagent distances. A rigorous stability analysis is presented that guarantees convergence of these distances to desired values. Simulation results are presented to support the theoretical results.