Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks

Autores
Presenza, Juan Francisco; Mas, Ignacio Agustin; Alvarez Hamelin, José Ignacio; Giribet, Juan Ignacio
Año de publicación
2025
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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.
Fil: Presenza, Juan Francisco. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long". Universidad de Buenos Aires. Facultad de Ingeniería. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long"; Argentina
Fil: Mas, Ignacio Agustin. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad de San Andrés; Argentina
Fil: Alvarez Hamelin, José Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long". Universidad de Buenos Aires. Facultad de Ingeniería. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long"; Argentina
Fil: Giribet, Juan Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad de San Andrés; Argentina
Materia
Control over networks
Graphs
Subframeworks
Graphs spectral properties
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/265423
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/265423
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network_name_str CONICET Digital (CONICET)
spelling Subframework-Based Bearing Rigidity Maintenance Control in Multirobot NetworksPresenza, Juan FranciscoMas, Ignacio AgustinAlvarez Hamelin, José IgnacioGiribet, Juan IgnacioControl over networksGraphsSubframeworksGraphs spectral propertieshttps://purl.org/becyt/ford/1.1https://purl.org/becyt/ford/1This 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.Fil: Presenza, Juan Francisco. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long". Universidad de Buenos Aires. Facultad de Ingeniería. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long"; ArgentinaFil: Mas, Ignacio Agustin. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad de San Andrés; ArgentinaFil: Alvarez Hamelin, José Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long". Universidad de Buenos Aires. Facultad de Ingeniería. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long"; ArgentinaFil: Giribet, Juan Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad de San Andrés; ArgentinaInstitute of Electrical and Electronics Engineers2025-06info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/265423Presenza, Juan Francisco; Mas, Ignacio Agustin; Alvarez Hamelin, José Ignacio; Giribet, Juan Ignacio; Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks; Institute of Electrical and Electronics Engineers; IEEE Control Systems Letter; 6-2025; 1-62475-1456CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/11039714info:eu-repo/semantics/altIdentifier/doi/10.1109/LCSYS.2025.3580768info:eu-repo/semantics/altIdentifier/arxiv/https://arxiv.org/abs/2504.17103info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-22T12:07:56Zoai:ri.conicet.gov.ar:11336/265423instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-22 12:07:57.018CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks
title Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks
spellingShingle Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks
Presenza, Juan Francisco
Control over networks
Graphs
Subframeworks
Graphs spectral properties
title_short Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks
title_full Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks
title_fullStr Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks
title_full_unstemmed Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks
title_sort Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks
dc.creator.none.fl_str_mv Presenza, Juan Francisco
Mas, Ignacio Agustin
Alvarez Hamelin, José Ignacio
Giribet, Juan Ignacio
author Presenza, Juan Francisco
author_facet Presenza, Juan Francisco
Mas, Ignacio Agustin
Alvarez Hamelin, José Ignacio
Giribet, Juan Ignacio
author_role author
author2 Mas, Ignacio Agustin
Alvarez Hamelin, José Ignacio
Giribet, Juan Ignacio
author2_role author
author
author
dc.subject.none.fl_str_mv Control over networks
Graphs
Subframeworks
Graphs spectral properties
topic Control over networks
Graphs
Subframeworks
Graphs spectral properties
purl_subject.fl_str_mv https://purl.org/becyt/ford/1.1
https://purl.org/becyt/ford/1
dc.description.none.fl_txt_mv 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.
Fil: Presenza, Juan Francisco. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long". Universidad de Buenos Aires. Facultad de Ingeniería. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long"; Argentina
Fil: Mas, Ignacio Agustin. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad de San Andrés; Argentina
Fil: Alvarez Hamelin, José Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long". Universidad de Buenos Aires. Facultad de Ingeniería. Instituto de Tecnologías y Ciencias de la Ingeniería "Hilario Fernández Long"; Argentina
Fil: Giribet, Juan Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad de San Andrés; Argentina
description 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.
publishDate 2025
dc.date.none.fl_str_mv 2025-06
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/265423
Presenza, Juan Francisco; Mas, Ignacio Agustin; Alvarez Hamelin, José Ignacio; Giribet, Juan Ignacio; Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks; Institute of Electrical and Electronics Engineers; IEEE Control Systems Letter; 6-2025; 1-6
2475-1456
CONICET Digital
CONICET
url http://hdl.handle.net/11336/265423
identifier_str_mv Presenza, Juan Francisco; Mas, Ignacio Agustin; Alvarez Hamelin, José Ignacio; Giribet, Juan Ignacio; Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks; Institute of Electrical and Electronics Engineers; IEEE Control Systems Letter; 6-2025; 1-6
2475-1456
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/11039714
info:eu-repo/semantics/altIdentifier/doi/10.1109/LCSYS.2025.3580768
info:eu-repo/semantics/altIdentifier/arxiv/https://arxiv.org/abs/2504.17103
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 12.982451

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