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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
Joint Ranging and Phase Offset Estimation for Multiple Drones using ADS-B Signatures
Mostafa Mohammadkarimi, Geert Leus, Raj Thilak Rajan
A new method for joint ranging and Phase Offset (PO) estimation of multiple drones/aircrafts is proposed in this paper. The proposed method employs the superimposed uncoordinated A…