Related papers: Weak Rigidity Theory and its Application to Multi-…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
We introduce weak oddness $\omega_{\textrm w}$, a new measure of uncolourability of cubic graphs, defined as the least number of odd components in an even factor. For every bridgeless cubic graph $G$, $\rho(G)\le\omega_{\textrm…
This paper formally analyses effects of nematic weak elasticity using the five parametric de Gennes (DG) potential. The analysis is trivialized in a specific (local) Cartesian coordinate system whose one axis is directed along the initial…
The aim of this work is to consider the internal stabilization of a nonlinear coupled system of two Korteweg--de Vries equations in a finite interval under the effect of a very weak localized damping. The system was introduced by Gear and…
We present a streamlined account of recent developments in the stability theory for planar viscous shock waves, with an emphasis on applications to physical models with ``real,'' or partial viscosity. The main result is the establishment of…
This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional…
We design a new feedback law to stabilize a linear infinite-dimensional control system, where the state operator generates a C0-group and the control operator is unbounded. Our feedback law is based on the integration of a mutated Gramian…
We study the stable configurations of a thin three-dimensional weakly prestrained rod subject to a terminal load as the thickness of the section vanishes. By $\Gamma$-convergence we derive a one-dimensional limit theory and show that…
Multi-agent networks are often modeled as interaction graphs, where the nodes represent the agents and the edges denote some direct interactions. The robustness of a multi-agent network to perturbations such as failures, noise, or malicious…
The paper presents a novel approach for the analysis and control of a multi-agent system with non-identical agents and a path-graph topology. With the help of irrational wave transfer functions, the approach describes the interaction among…
We prove that a graph has an infinitesimally rigid placement in a non-Euclidean normed plane if and only if it contains a $(2,2)$-tight spanning subgraph. The method uses an inductive construction based on generalised Henneberg moves and…
In this paper, we study weakly dynamic undirected graphs, that can be used to represent some logistic networks. The goal is to deliver all the delivery points in the network. The network exists in a mostly stable environment, except for a…
We report the quantitative experimental observation of the weak inertial-wave turbulence regime of rotating turbulence. We produce a statistically steady homogeneous turbulent flow that consists of nonlinearly interacting inertial waves,…
A law in a multiagent system is a set of constraints imposed on agents' behaviours to avoid undesirable outcomes. The paper considers two types of laws: useful laws that, if followed, completely eliminate the undesirable outcomes and…
In structural rigidity, one studies frameworks of bars and joints in Euclidean space. Such a framework is an articulated structure consisting of rigid bars, joined together at joints around which the bars may rotate. In this paper, we will…
A $d$-dimensional tensegrity framework $(T,p)$ is an edge-labeled geometric graph in ${\mathbb R}^d$, which consists of a graph $T=(V,B\cup C\cup S)$ and a map $p:V\to {\mathbb R}^d$. The labels determine whether an edge $uv$ of $T$…
This paper investigates the localization problem of a network in 2-D and 3-D spaces given the positions of anchor nodes in a global frame and inter-node relative measurements in local coordinate frames. It is assumed that the local frames…
We show that static data structure lower bounds in the group (linear) model imply semi-explicit lower bounds on matrix rigidity. In particular, we prove that an explicit lower bound of $t \geq \omega(\log^2 n)$ on the cell-probe complexity…
A framework (a straight-line embedding of a graph into a normed space allowing edges to cross) is globally rigid if any other framework with the same edge lengths with respect to the chosen norm is an isometric copy. We investigate global…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…