Zhimin Han

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—The paper concentrates on the fundamental coordination problem that requires a network of agents to achieve a specific but arbitrary formation shape. A new technique based on complex Laplacian is introduced to address the problems of which formation shapes specified by inter-agent relative positions can be formed and how they can be achieved with(More)
— Real graph Laplacians are of great importance in consensus of multi-agent systems. This paper introduces complex graph Laplacians as a new tool to study the formation control problem in the plane. It is shown that complex graph Laplacians are of equally great importance for planar formation control like real Laplacians for consensus. First, complex graph(More)
—We consider the control of formations of a leader–follower network, where the objective is to steer a team of multiple mobile agents into a formation of variable size. We assume that the shape description of the formation is known to all the agents, which is captured by a complex-valued Laplacian associated with the sensing graph, but the size scaling of(More)
— This paper studies the formation maneuvering control problem for a network of agents with the objective of achieving a desired group formation shape and a constant overall group maneuvering velocity. A fully distributed approach is developed to solve the problem. That is, a control law is proposed for each agent in the network, with its parameters capable(More)
Osteosarcoma (OS), also known as osteogenic sarcoma, is the most common primary malignancy of bone tumor in children and adolescents. However, its underlying molecular pathogenesis is still only vaguely understood. Recently, LIM mineralization protein-1 (LMP-1) was reported to be an essential positive regulator of osteoblast differentiation. In the present(More)
— The paper studies the formation control problem for distributed robot systems. It is assumed each robot only has access to local sensing information (i.e. the relative positions and IDs of its neighbors). Taking into consideration physical sensing constraints (e.g. limited sensing range) and the motion of the robots over time, it may be noted that the(More)
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