Session 7: Multi-Agent Formations

In this talk we will explore the deep connection between rigidity theory and its role in ensuring unique formation shapes. While the conventional notion of rigidity (which is essentially distance-rigidity) is well understood, even without an elaborate mathematical set-up, we shall see that there is a way to extend the notion of rigidity to bearing-rigidity, elevation angle-rigidity and signed elevation angle-rigidity. Based on these paradigms, it is possible to obtain unique formation shapes up to scaling, rotation or translation. 

Floats are mobile observation platforms deployed in oceanic environments to autonomously monitor and collect essential data (e.g., conductivity, temperature, depth, dissolved gas levels, etc.) crucial for diverse applications in oceanography and climate science, including evaluation of atmospheric greenhouse gases, biological monitoring, subsurface current observation, methane seeps exploration, harmful algal bloom tracking, bathymetry, dissolved oxygen measurement, optical scattering, and testing of ocean mixing. With their mobility ranging from passive drifting with ocean currents to active buoyancy-controlled scaling of deep-water columns, floats represent a specialized class of surface and underwater marine vehicles deployed for similar maritime research and environmental monitoring applications. This talk paper will provide historical and prospective accounts of float systems from the perspective of autonomy. It will cover recent advances in the field that have paved the way to a new league of robotic floats with features of enhanced perception, actuation, control, and swarming capabilities.