3 papers
eess.SY2026
Multicluster Design and Control of Large-Scale Affine Formations
Zhonggang Li, Geert Leus, Raj Thilak Rajan
Conventional affine formation control (AFC) empowers a network of agents with flexible but collective motions - a potential which has not yet been exploited for large-scale swarms.…
eess.SY2025
Fast Multiagent Formation Stabilization with Sparse Universally Rigid Frameworks
Zhonggang Li, Geert Leus, Raj Thilak Rajan
Affine formation control (AFC) is a distributed networked control system that has recently received increasing attention in various applications. AFC is typically achieved using a…
eess.SY2024
On the Stability of Consensus Control under Rotational Ambiguities
Zhonggang Li, Changheng Li, Raj Thilak Rajan
Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual ag…