Generation of optimal persistent formations for heterogeneous multi-agent systems with a leader constraint
Wang Guo-Qiang1, 2, Luo He1, 2, †, Hu Xiao-Xuan1, 2
       

(color online) Process for MCA-SP-OPGGA to generate the optimal persistent graph, T. (a) The first minimum cost arborescence, and (b) the second minimum cost arborescence, , (c) directed graph, T, obtained by the combination of T1 and T2, (d) directed graph, T, after arc has been added, (e) directed graph, T, after the path, , has been reversed from v5 to v15, (f) directed graph, T, after arc a39 has been added; (g) directed graph, T, after path, , has been reversed from v2 to v9.