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Control of Minimally Persistent Formations in the Plane

Yu, Changbin (Brad); Anderson, Brian; Dasgupta, Soura; Fidan, Baris


This paper studies the problem of controlling the shape of a formation of point agents in the plane. A model is considered where the distance between certain agent pairs is maintained by one of the agents making up the pair; if enough appropriately chosen distances are maintained, with the number growing linearly with the number of agents, then the shape of the formation will be maintained. The detailed question examined in the paper is how one may construct decentralized nonlinear control laws...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Journal article
Source: Siam Journal on Control and Optimization
DOI: 10.1137/060678993


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