Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs

Figure 1

Examples of graphs in 2D space. (a) Flexible graph. (b) Rigid graph. (c) Min-weighted rigid graph. (d) Optimal persistence graph. The four agents in the plane are (0, 0), (3, 0), (4, 4), and (0, 5).

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