@inproceedings{e34f7f72920843bface146a9736c40ff,
title = "Toward robust control of minimally rigid undirected formations",
abstract = "Gradient control is a method based on potential functions to locally stabilize rigid undirected formations. However, when there is a mismatch in two neighboring agents' understandings of what the target distance between them is supposed to be, such a potential-based control will typically cause a rigid undirected formation to rotate in the plane. This paper investigates an appropriate modification of the gradient control, which eliminates this rotation and locally stabilizes the triangular formation with no restriction on the number of mismatches and any minimally rigid formation consisting of four or more agents with only one mismatch.",
author = "Shaoshuai Mou and Morse, {A Stephen} and Brian Anderson",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 53rd IEEE Conference on Decision and Control ; Conference date: 01-01-2014",
year = "2014",
doi = "10.1109/CDC.2014.7039454",
language = "English",
isbn = "9781479977451",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "February",
pages = "643--647",
booktitle = "53rd IEEE Conference on Decision and Control,CDC 2014",
address = "United States",
edition = "Peer Reviewed",
}