@inproceedings{2f5c244a531942ec8795a8508eb30088,
title = "Stabilization of Symmetric Formations",
abstract = "This work proposes a solution to the distance-constrained formation control problem to attain symmetric formations. Utilizing recent results from rigidity theory for symmetric frameworks, we design a gradient-based control strategy that simultaneously drives the agents to the desired inter-agent distances and also a special position characterizing additional symmetry constraints on the graph. We show that for graphs where there exist edges between agents in the same vertex orbit induced by the automorphism group, no additional information exchange links are required. Furthermore, leveraging the symmetry constraints of the system it is possible to solve the formation control problem with fewer edges than standard approaches. In particular, the framework is not required to be minimally infinitesimally rigid in this case. Our results are demonstrated with a numerical example.",
keywords = "distributed control and estimation, formation control, Multi-agent systems, nonlinear cooperative control, rigidity theory, symmetry",
author = "Daniel Zelazo and Bernd Schulze and Tanigawa, {Shin Ichi}",
note = "Publisher Copyright: Copyright {\textcopyright} 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/); 22nd IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023",
year = "2023",
month = jul,
day = "1",
doi = "10.1016/j.ifacol.2023.10.301",
language = "الإنجليزيّة",
series = "IFAC-PapersOnLine",
publisher = "Elsevier B.V.",
number = "2",
pages = "10552--10557",
editor = "Hideaki Ishii and Yoshio Ebihara and Jun-ichi Imura and Masaki Yamakita",
booktitle = "IFAC-PapersOnLine",
edition = "2",
}