Subframework-Based Bearing Rigidity Maintenance Control in Multirobot Networks

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.