Dasgupta, Soura; Anderson, Brian; Yu, Changbin (Brad); Summers, Tyler
We consider formation shape control of four point agents in the plane. Control laws based on specified interagent distances are used. For a complete graph, specification of all interagent distances determines the formation shape uniquely. Krick, Broucke and Francis showed that for a standard control law, there may exist equilibrium formations with incorrect interagent distances. This paper studies such equilibria and derives two main results. That each such incorrect equilibrium is attached to...[Show more]
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