The next LyonGroningen seminar will be given by Liangming Chen from Groningen. It will be Thursday May 20th at 2pm.

**Title:**Angle rigidity graph theory and multi-agent formations

**Abstract:**Motivated by the challenging formation control problem for a team of mobile vehicles in which each vehicle can only measure some of the angles towards its neighbors in its local coordinate frame, this thesis develops angle rigidity graph theory in both 2D and 3D. The angle rigidity graph theory is developed for a class of multi-point frameworks, called “angularity”, consisting of a set of nodes embedded in a Euclidean space and a set of angle constraints among them. Here angle rigidity refers to the property specifying that under proper angle constraints, the angularity can only translate, rotate or scale as a whole when one or more of its nodes are perturbed locally. Using the developed angle rigidity theory, angle-only formation control algorithms are designed for a team of mobile vehicles to achieve a desired angle rigid formation, in which only local angle measurements are needed for each vehicle.

Vincent & Bayu

LyonGroningen Seminar

Hosted by vincent andrieu

https://univ-lyon1.webex.com/univ-lyon1-en/j.php?MTID=m877d81e95f74f0e643ad3545b427076f

Hosted by vincent andrieu

https://univ-lyon1.webex.com/univ-lyon1-en/j.php?MTID=m877d81e95f74f0e643ad3545b427076f

**Date/heure**

Date(s) - 20 May 2021*14 h 00 min - 15 h 00 min*

**Catégories**