Control of Minimally Persistent Formations in the Plane

@article{Yu2009ControlOM,
  title={Control of Minimally Persistent Formations in the Plane},
  author={Changbin Yu and Brian. D. O. Anderson and Soura Dasgupta and Barış Fidan},
  journal={SIAM J. Control. Optim.},
  year={2009},
  volume={48},
  pages={206-233}
}
This paper studies the problem of controlling the shape of a formation of point agents in the plane. A model is considered where the distance between certain agent pairs is maintained by one of the agents making up the pair; if enough appropriately chosen distances are maintained, with the number growing linearly with the number of agents, then the shape of the formation will be maintained. The detailed question examined in the paper is how one may construct decentralized nonlinear control laws… 
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