From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing

• URL: http://arxiv.org/abs/2607.10170v1
• Date: Sat, 11 Jul 2026 07:20:20 GMT
• Title: From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing
• Abstract summary: This paper provides a method for achieving an inter robot collision free, rigid time varying communication graph.<n>The proposed approach guarantees the realization of a rigid graph for nonlinear multi robot systems.
• Score: 1.8619748472447968
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes challenging in practice due to limited sensing ranges and dynamic operating conditions. This paper provides a method for achieving an inter robot collision free, rigid time varying communication graph, where communication links are established or broken according to limited sensing ranges, without assuming an initial rigid graph. In addition, the proposed approach guarantees the realization of a rigid graph for heterogeneous nonlinear multi robot systems. A computationally lean, distributed quadratic optimization-based controller is developed for a leader follower architecture, acquiring rigidity based on hierarchical second-order consensus among robots. Follower agents do not require global absolute positions of any agent, including their own. The proposed method is validated through both simulations and hardware experiments in a motion-capture environment, demonstrating reliable performance under the limited sensing capabilities of individual robots.

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