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Geometrical Methods for Mismatched Formation Control

Helmke, Uwe; Mou, Shaoshuai; Sun, Zhiyong; Anderson, Brian


Formation shape control for a collection of point agents is concerned with devising decentralized control laws which will move the formation so that certain inter-agent distances reach prescribed desired values. Standard algorithms such as that proposed by [1] perform steepest descent of a smooth error function, ensuring that the formations will always converge to equilibrium points for the gradient flow. The convergence to equilibrium points of these algorithms depends critically on the fact...[Show more]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
Source: Critical Observations in a Diagnostic Problem
DOI: 10.1109/CDC.2014.7039568


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