A Unified Dissertation on Bearing Rigidity Theory

This work focuses on bearing rigidity theory, namely the branch of knowledge investigating structural properties necessary for multi-element systems to preserve inter-unit bearings under deformations. The contributions this are twofold. first one consists in development a general framework statement principal definitions and rigidity. We show that approach encompasses results existing literature, also provides systematic studying any differential manifold SE(3)^n, where n is number agents. second contribution derivation form matrix, central construct study theory. provide sufficient condition infinitesimal as property rank matrix. Finally, we present two examples multi-agent not encountered literature their using developed methods.