@inproceedings{11105575cc3344be929d153b38394ff6,
title = "Finite-time convergence control for acyclic persistent formations",
abstract = "In this paper, we propose a distance-based control law for acyclic persistent formations of mobile agents. The proposed normalized gradient law, which can be implemented distributively by using local measurements, allows agents to achieve their desired formation shape specified by inter-agent distance constraints in finite time, with local but not global con-vergence. We show some local finite-time convergence properties including an upper bound for the convergence time. Further the existence of attractive incorrect equilibrium formations is demonstrated. Simulation results are provided for illustration.",
author = "Park, \{Myoung Chul\} and Zhiyong Sun and Oh, \{Kwang Kyo\} and Anderson, \{Brian D.O.\} and Ahn, \{Hyo Sung\}",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Symposium on Intelligent Control, ISIC 2014 ; Conference date: 08-10-2014 Through 10-10-2014",
year = "2014",
month = nov,
day = "25",
doi = "10.1109/ISIC.2014.6967627",
language = "English",
series = "2014 IEEE International Symposium on Intelligent Control, ISIC 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1608--1613",
booktitle = "2014 IEEE International Symposium on Intelligent Control, ISIC 2014",
address = "United States",
}