Geometrical Methods for Mismatched Formation Control
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  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]
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|Source:||Critical Observations in a Diagnostic Problem|
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