Eren, TolgaBelhumeur, Peter NAnderson, BrianMorse, A. Stephen2026-01-012026-01-0197839026617461474-6670ORCID:/0000-0002-1493-4774/work/174739504https://hdl.handle.net/1885/733801202In this paper, a framework for maintaining formations of large number of mobile autonomous vehicles based on rigidity is proposed. The aim of this paper is to explore strategies for maintaining formations with more limited communication/sensing requirements. An inductive construction method for provably rigid formations is proposed, and a method for optimum angle measures between vehicles is developed. The method scales with the number of vehicles and is flexible to support many rigid formation shapes.enPublisher Copyright: Copyright © 2002 IFAC.Autonomous vehiclesCoordinationGeometric approachesGraph TheoryGraphs200210.3182/20020721-6-es-1901.0130884945548087