@inproceedings{0321b07f3f1a4bc4adf74f1b718f1c3a,
title = "Formation shape control: Global asymptotic stability of a four-agent formation",
abstract = "This paper considers formation shape control of a team of four agents in the plane, motivated by an example from [1]. We utilize bidirectional, gradient-based interagent distance control laws which are designed so that the agents cooperatively achieve a specified desired formation shape. When every interagent distance is actively controlled (i.e. the information architecture is a complete graph), there may exist equilibrium formation shapes with incorrect interagent distances. We prove that any incorrect equilibrium formation shape is locally unstable for formations with internal angles that satisfy an acuteness condition and thereby establish that the desired formation shape, for all practical purposes, is globally asymptotically stable.",
author = "Summers, {Tyler H.} and Changbin Yu and Anderson, {Brian D.O.} and Soura Dasgupta",
year = "2009",
doi = "10.1109/CDC.2009.5399780",
language = "English",
isbn = "978-1-4244-3871-6",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3002--3007",
booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference,",
address = "United States",
note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",
}