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

Algorithm 1

Generation of the min-weighted rigid graph in 3D space.

Initialize the complete graph G = (V, E, A) with n nodes, where n represents the number of UAVs;

Calculate the length of all edges of the complete graph;

Sequence all the edges by increasing;

Build the rigidity matrix M of the complete graph according to the sequence of edges;

Initialize matrix M_c as the first row of M;

for

 if rank

  Add the next row of M to M_c to form a new matrix M’;

  if M’ is full rank

  Record the edge set in M corresponding to the row;

  end

 end

end

Draw the min-weighted rigid graph;