22 citations · 109 across the 52 of their papers we have counts for
5 papers · 1 filter
Singularities and global stability of decentralized formations in the plane
M. -A. Belabbas
Formation control is concerned with the design of control laws that stabilize agents at given distances from each other, with the constraint that an agent's dynamics can depend onl…
Known unknowns, unknown unknowns and information flow: new concepts in decentralized control
M. -A. Belabbas
We introduce and analyze a model for decentral- ized control. The model is broad enough to include problems such as formation control, decentralization of the power grid and flocki…
Mathematical aspects of decentralized control of formations in the plane
M. -A. Belabbas
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of…
Decentralized Formation Control Part II: Algebraic aspects of information flow and singularities
M. -A. Belabbas
Given an ensemble of autonomous agents and a task to achieve cooperatively, how much do the agents need to know about the state of the ensemble and about the task in order to achie…
Decentralized Formation Control Part I: Geometric Aspects
M. -A. Belabbas
In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with…