Generation of optimal persistent formations for heterogeneous multi-agent systems with a leader constraint

Wang Guo-Qiang^{1, 2}, Luo He^{1, 2, †}, Hu Xiao-Xuan^{1, 2}

(color online) Process for SP-OPGAA to generate the optimal persistent graph, T, that satisfies the leader constraint. (a) The optimal persistent graph, T, after reversing the arcs on the path, , from v₁ to v₂; (b) The optimal persistent graph, T, after reversing the arcs on the path, , from v₁₂ to v₂.