University of Groningen
Constructing tensegrity frameworks and related applications in multi-agent formation control
Yang, Qingkai
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Publication date: 2018
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Yang, Q. (2018). Constructing tensegrity frameworks and related applications in multi-agent formation control. University of Groningen.
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1. Tensegrity frameworks can bring us more freedom in motion than bar frameworks, but the tradeoff is the requirement for more constraints to obtain a rigid or infinitesimally rigid tensegrity framework (Chapter 3).
2. The Henneberg construction operation on super stable tensegrity frameworks in the plane is equivalent to gluing together components of a super stable simplex, such as a cross-tensegrity unit (Chapter 4).
3. Given a configuration associated with a set of nodes, relabeling these nodes might lead to a resulting tensegrity framework more (or fewer) members using the proposed algorithm (Chapter 5).
4. All the motions in the context of affine transformations can be realized by introducing a proper self-stress associated with a universally rigid tensegrity framework into the formation control law (Chapter 6).
5. Agents can precisely estimate the weighted centroid of their dynamic formation even though the orientations of the local coordinate systems are not consistent (Chapter 7).
6. Making a choice is like gambling since the outcome is out of anyone's control but the destiny.
7. 随之见伐，不量力也。量力而动，其过鲜矣。善败由己，而由人乎哉? - 《左传·僖公二十年》 [Don't bite off more than you can chew. – American proverb]
8. I do believe “one” plus “one” is seldom equal to “two”. What helps me grow up with a strong mind is exactly the “inequality”.
