@inproceedings{95c9a247b2d84f9c9b508fa8e3154df3,
title = "Formation specification control based on infinitesimal sign rigidity in 3-D space",
abstract = "This paper studies a particular property of formation rigidity, which is termed infinitesimal sign rigidity, to specify multi-agent target formations using distance- and signed volume-constraints in 3-D space. In comparison with the conventional rigidity theory with distance constraints only, the concept of infinitesimal sign rigidity employs signed volume constraints to eliminate the possibility of formation ambiguity issues arising in 3-D space. Based on the property of infinitesimal sign rigidity, this paper explores a formation specification control law to achieve multi-agent formations with desired distances and signed volumes in 3-D space. It is shown that under the control law, agents close to a target formation can converge to a formation with desired distances and signed volumes exponentially fast.",
keywords = "Formation control, multi-agent systems, rigidity theory",
author = "Kwon, {Seong Ho} and Zhiyong Sun and Anderson, {Brian D.O.} and Ahn, {Hyo Sung}",
note = "Publisher Copyright: {\textcopyright} 2022 ACA.; 13th Asian Control Conference, ASCC 2022 ; Conference date: 04-05-2022 Through 07-05-2022",
year = "2022",
doi = "10.23919/ASCC56756.2022.9828224",
language = "English",
series = "ASCC 2022 - 2022 13th Asian Control Conference, Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1202--1207",
booktitle = "ASCC 2022 - 2022 13th Asian Control Conference, Proceedings",
address = "United States",
}