5 papers
Formation Control via Rotation Symmetry Constraints
Zamir Martinez, Daniel Zelazo
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces i…
Symmetry-Based Formation Control on Cycle Graphs Using Dihedral Point Groups
Zamir Martinez, Daniel Zelazo
This work develops a symmetry-based framework for formation control on cycle graphs using Dihedral point-group constraints. We show that enforcing inter-agent reflection symmetries…
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…