Related papers: Weak Rigidity Theory and its Application to Multi-…
In this paper, we propose a distance-based formation control strategy that can enable four mobile agents, which are modelled by a group of single-integrators, to achieve the desired formation shape specified by using six consistent…
This paper investigates the stability of distance-based \textit{flexible} undirected formations in the plane. Without rigidity, there exists a set of connected shapes for given distance constraints, which is called the ambit. We show that a…
Stability is a basic requirement when studying the behavior of dynamical systems. However, stabilizing dynamical systems via reinforcement learning is challenging because only little data can be collected over short time horizons before…
The robust stability problem involves designing a controlled system which remains stable in the presence of modeling uncertainty. In this context, results known as small gain theorems are used to quantify the maximum amount of uncertainty…
Many nonlinear dynamical systems exhibit symmetry, affording substantial benefits for control design, observer architecture, and data-driven control. While the classical notion of group invariance enables a cascade decomposition of the…
In the context of elasticity theory, rigidity theorems allow to derive global properties of a deformation from local ones. This paper presents a new asymptotic version of rigidity, applicable to elastic bodies with sufficiently stiff…
Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…
A rigidity theory is developed for the Euclidean and non-Euclidean placements of countably infinite simple graphs in R^d with respect to the classical l^p norms, for d>1 and 1<p<\infty. Generalisations are obtained for the Laman and…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the…
Conventional approaches to grasp planning require perfect knowledge of an object's pose and geometry. Uncertainties in these quantities induce uncertainties in the quality of planned grasps, which can lead to failure. Classically, grasp…
Rigidity theory enables us to specify the conditions of unique localizability in the cooperative localization problem of wireless sensor networks. This paper presents a combinatorial rigidity approach to measure (i) generic rigidity and…
We put forward a theory of the weak localization in two dimensional graphene layers which explains experimentally observable transition between positive and negative magnetoresistance. Calculations are performed for the whole range of…
This paper proposes an adaptive neural network-based backstepping controller that uses rigid graph theory to address the distance-based formation control problem and target tracking for nonlinear multi-agent systems with bounded time-delay…
We study necessary and sufficient conditions for contraction and incremental stability of dynamical systems with respect to non-Euclidean norms. First, we introduce weak pairings as a framework to study contractivity with respect to…
In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the…
We explore the rigidity of generic frameworks in 3-dimensions whose underlying graph is close to being planar. Specifically we consider apex graphs, edge-apex graphs and their variants and prove independence results in the generic…
Using particle-scale models to accurately describe property enhancements and phase transitions in macroscopic behavior is a major engineering challenge in composite materials science. To address some of these challenges, we use the graph…
This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…