23 citations · 58 across the 41 of their papers we have counts for
6 papers · 1 filter
Global Stabilization of Triangulated Formations
Xudong Chen, M. -A. Belabbas, Tamer Başar
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of…
Swarm Aggregation under Fading Attractions
Xudong Chen
Gradient descent methods have been widely used for organizing multi-agent systems, in which they can provide decentralized control laws with provable convergence. Often, the contro…
Formation Control with Triangulated Laman Graphs
Xudong Chen, M. -A. Belabbas, Tamer Basar
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the in…
Controllability of Formations over Time-varying Graphs
Xudong Chen, M. -A. Belabbas, Tamer Basar
In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of t…
Adjacency Criterion For Gradient Flow With Multiple Local Maxima
Xudong Chen
In this paper, we investigate the geometry of a general class of gradient flows with multiple local maxima. we decompose the underlying space into disjoint regions of attraction an…
Decentralized Formation Control with A Quadratic Lyapunov Function
Xudong Chen
In this paper, we investigate a decentralized formation control algorithm for an undirected formation control model. Unlike other formation control problems where only the shape of…