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- W2000380922 abstract "In this paper, we will consider a formation control model whereby the multi-agent system is governed by a set of controllable interactions between pairs of agents, and a connected, undirected graph is used to specify selected interactions that are under control. We investigate the control model from two perspectives: one is from the view of classic control theory while the other is from the view of decentralized formation control. We show that the model, when treated as a centralized control system, is approximately path-controllable. We establish this result by identifying the control model with a related control-affine system, and then verifying the Lie algebra rank condition. After that, we look into the control model as a decentralized control system. A particular pattern of information flow will be considered and a decentralized solution that relates to a gradient-like flow will be investigated in detail." @default.
- W2000380922 created "2016-06-24" @default.
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- W2000380922 date "2014-12-01" @default.
- W2000380922 modified "2023-09-25" @default.
- W2000380922 title "Centralized and decentralized formation control with controllable interaction laws" @default.
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- W2000380922 doi "https://doi.org/10.1109/cdc.2014.7039447" @default.
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