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.SP2025
Geometry-Aware Edge-State Tracking for Resilient Affine Formation Control
Zhonggang Li, Raj Thilak Rajan
Affine formation control (AFC) is a subset of formation control methods that enables coordinated multiagent movement while preserving affine relationships, and has recently gained…