Yu, Changbin (Brad)Fidan, BarisAnderson, Brian2015-12-07June 14-161424402093http://hdl.handle.net/1885/22086This paper provides a complete description of possible scenarios of merging two minimally rigid or globally rigid formations to obtain a single minimally rigid or globally rigid formation, respectively, both in ℛ2 and ℛ3. A strategy is developed basedKeywords: Control system analysis; Optimal control systems; Optimization; Problem solving; Control autonomous formation; Globally rigid formation; Graph theory20062015-12-07