Fix the non-robustness issue for a class of minimally rigid undirected formations

Abstract

Gradient control is a method based on potential functions to locally stabilize undirected rigid formations. However, when there is mismatch between two neighboring agents' understandings of the desired distance between them, such a potential-based control will almost for certain cause an undirected minimally rigid formation to rotate in the plane. In this… (More)
DOI: 10.1109/ACC.2014.6859257

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