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math.OC2025
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…
math.OC2025
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…
math.OC2025
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…