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arXiv · 2508.18483

Fast Multiagent Formation Stabilization with Sparse Universally Rigid Frameworks

Zhonggang Li·Geert Leus·Raj Thilak Rajan
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Abstract

Affine formation control (AFC) is a distributed networked control system that has recently received increasing attention in various applications. AFC is typically achieved using a generalized consensus system where the stress matrix, which encodes the graph structure, is used instead of a graph Laplacian. Universally rigid frameworks (URFs) guarantee the existence of the stress matrix and have thus become the guideline for such a network design. In this work, we propose a convex optimization framework to design the stress matrix for AFC without predefining a rigid graph. We aim to find a resulting network with a reduced number of communication links, but still with a fast convergence speed. We show through simulations that our proposed solutions can yield a more sparse graph, while admitting a faster convergence compared to the state-of-the-art solutions.

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Zhonggang Li, Geert Leus, Raj Thilak Rajan. 2025-08-25. Fast Multiagent Formation Stabilization with Sparse Universally Rigid Frameworks. https://arxiv.org/abs/2508.18483

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