72 citations · 250 across the 57 of their papers we have counts for
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math.OC2026
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…
math.OC2026
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…
math.OC2025
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…