Related papers: Symmetry-Based Formation Control on Cycle Graphs U…
Reaction-diffusion systems offer a powerful framework for understanding self-organized patterns in biological systems, yet controlling these patterns remains a significant challenge. As a consequence, we present a rigorous framework of…
In this paper, we propose a novel formation controller for nonholonomic agents to form general parametric curves. First, we derive a unified parametric representation for both open and closed curves. Then, a leader-follower formation…
Patterns arise spontaneously in a range of systems spanning the sciences, and their study typically focuses on mechanisms to understand their evolution in space-time. Increasingly, there has been a transition towards controlling these…
In this article, following [A.~Daneshgar, M.~Hejrati, M.~Madani, {\it On cylindrical graph construction and its applications}, EJC, 23(1) p1.29, 45, 2016] we study the spectra of symmetric cylindrical constructs, generalizing some…
This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the…
The edges surrounding a face of a map $M$ form a cycle $C$, called the boundary cycle of the face, and $C$ is often not a simple cycle. If the map $M$ is arc-transitive, then there is a cyclic subgroup of automorphisms of $M$ which leaves…
This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for reaching a unique formation with the same…
Symmetry is a key feature observed in nature (from flowers and leaves, to butterflies and birds) and in human-made objects (from paintings and sculptures, to manufactured objects and architectural design). Rotational, translational, and…
We introduce a principled generative framework for graph signals that enables explicit control of feature heterophily, a key property underlying the effectiveness of graph learning methods. Our model combines a Lipschitz graphon-based…
The lack of a unified theoretical framework for characterizing band inversions across different crystal symmetries hinders the rapid development of topological photonic band engineering. To address this issue, we have constructed a…
We consider the problem of steering a collection of n particles that obey identical n-dimensional linear dynamics via a common state feedback law towards a rearrangement of their positions, cast as a controllability problem for a dynamical…
In this talk we present and discuss a new general approach to the synthesis of metasurfaces for full control of transmitted and reflected fields. The method is based on the use of an equivalent impedance matrix which connects the tangential…
This letter presents a geometric input-output analysis of distance-based formation control, focusing on the phenomenon of steady-state signal blocking between actuator and sensor pairs. We characterize steady-state multivariable…
The inherent challenge of detecting symmetries stems from arbitrary orientations of symmetry patterns; a reflection symmetry mirrors itself against an axis with a specific orientation while a rotation symmetry matches its rotated copy with…
In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated…
The collective dynamics of interacting dynamical units on a network crucially depends on the properties of the network structure. Rather than considering large but finite graphs to capture the network, one often resorts to graph limits and…