72 citations · 250 across the 57 of their papers we have counts for
65 papers
Formation control from the generic combinatorial viewpoint: edge dynamics and directed sensing
Louis Theran, Daniel Zelazo, Sean Dewar +1
We develop a geometric framework for distance-based formation control that separates the evolution of inter-agent distances from its realization by compatible node motions, reducin…
On weavings, grillages, tensegrities, and frameworks
Cameron Millar, Bernd Schulze, Louis Theran
We investigate the stability of discrete structures comprising of woven elastic beams in a plane, exposing a connection between admissible over / under patterns and the first-order…
Combinatorial Admissibility in Control-Affine Networks
Daniel Zelazo, Louis Theran
We study synchronization of heterogeneous control-affine nonlinear agents interconnected through diffusive (relative-output) measurements. We separate the design into an edge-space…
A geometric view of formation control with application to directed sensing
Louis Theran, Daniel Zelazo, Jessica Sidman
We propose a geometric approach to distance-based formation control modeled on a minimum-norm lifting of Riemannian gradient descent in edge-space to node-space. This yields a unif…
Uniquely realizable crystalline structures
Sean Dewar, Bernd Schulze, Shin-ichi Tanigawa +1
We construct infinite periodic versions of the stress matrix and establish sufficient conditions for periodic tensegrity frameworks to be globally rigid in in the ca…
Linearizing Algebraic Matroids
Zvi Rosen, Jessica Sidman, Louis Theran
Although algebraic matroids were discovered in the 1930s, interest in them was largely dormant until their recent use in applications of algebraic geometry. Because nonlinear algeb…