1 citations · 1 across the 6 of their papers we have counts for
5 papers · 1 filter
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…
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…
The Geometry of Hidden Modes in Distance-Based Formation Control
Solomon Goldgraber Casspi, Daniel Zelazo
This paper presents a geometric input-output analysis of hidden modes in distance-based formation control. We study the linearized dynamics under a gradient control law to characte…
Extending the Leader-First Follower Structure for Bearing-only Formation Control on Directed Graphs
Jiacheng Shi, Daniel Zelazo
This work proposes an extension to the leader-first follower (LFF) class of graphs used to solve the bearing-only formation control problem over directed graphs. The first contribu…
Forced Symmetric Formation Control
Daniel Zelazo, Shin-ichi Tanigawa, Bernd Schulze
This work considers the distance constrained formation control problem with an additional constraint requiring that the formation exhibits a specified spatial symmetry. We employ r…