@inproceedings{549d4d2035be48d2be68a6bebbdad0ce,
title = "Control of directed formations with a leader-first follower structure",
abstract = "This paper deals with the directed distance-based control of autonomous formations. Unlike most conventional approaches, a graphical model of the formation with a minimally persistent property is used. Any minimally persistent formation can, through agents additions, be re-organized as one with a leader and a first follower. This paper focuses on leader-first-follower formations that may contain cycles. We show how to establish equations of motion, and how to construct a decentralized control law that will recover shape in the presence of small deviations from the nominal. We also list a number of signification open problems in the general area.",
keywords = "Directed formations, Distributed control, Graph theory, Multiagent system",
author = "Anderson, {Brian D.O.} and Soura Dasgupta and Changbin Yu",
year = "2007",
doi = "10.1109/CDC.2007.4434410",
language = "English",
isbn = "1424414989",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2882--2887",
booktitle = "Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC",
address = "United States",
note = "46th IEEE Conference on Decision and Control 2007, CDC ; Conference date: 12-12-2007 Through 14-12-2007",
}