Helmke, UweAnderson, Brian2015-12-10October 2-9781479934096http://hdl.handle.net/1885/63201In this paper we study the critical points of potential functions for distance-based formation shape of a finite number of point agents in Euclidean space ℝd with d ≤ 3. The analysis of critical formations proceeds using equivariant Morse theory for e201310.1109/Allerton.2013.67367162015-12-10