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- W2108261524 abstract "This paper examines stability properties of distance-based formations. These are formations encoded by inter-agent relative distances. A negative gradient control law is proposed and is shown to be provably correct when the formation graph is a tree. Moreover, it is shown that the tree structure is a necessary and sufficient condition for distance-based formation stabilization with negative gradient control laws. For graphs that contain cycles, a characterization of the resulting equilibria is given based on the properties of the cycle space of the graph. The results are also applied to flocking motion for double integrator agents." @default.
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- W2108261524 date "2008-01-01" @default.
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- W2108261524 title "On the stability of distance-based formation control" @default.
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- W2108261524 doi "https://doi.org/10.1109/cdc.2008.4739215" @default.
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