Command coordination in multi-agent formation: Euclidean distance matrix approaches

This paper addresses possible benefits and potential utilities of Euclidean distance matrix (EDM) in multi-agent formation systems. Using interval concept, this paper considers range variation, measurement uncertainties, and possible disturbances in the distances; and then using this result, we address a realization problem of partial interval matrices, a rigidity problem of corresponding graph, and a unique realization of partial interval distance matrices. This paper also outlines some specific applications of Euclidean distance matrix in command coordination. The central contribution of this paper is to propose of using Euclidean distance matrix in generating a command for multi-agent coordination.