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Necessary and sufficient graphical conditions for formation control of unicycles

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3 Author(s)
Zhiyun Lin ; Dept. of Electr. & Comput. Eng., Univ. of Toronto, Ont., Canada ; Francis, B. ; Maggiore, M.

The feasibility problem is studied of achieving a specified formation among a group of autonomous unicycles by local distributed control. The directed graph defined by the information flow plays a key role. It is proved that formation stabilization to a point is feasible if and only if the sensor digraph has a globally reachable node. A similar result is given for formation stabilization to a line and to more general geometric arrangements.

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Automatic Control, IEEE Transactions on  (Volume:50 ,  Issue: 1 )