@inproceedings{ec6b8a0bdce04d8eb8c41188219515b8,
title = "Decentralized design with localized objective in formation control",
abstract = "Formation control deals with the design of decentralized feedback laws that stabilize agents around a target configuration. In this context, the target configuration is a global design variable for the system. We call decentralized design with localized objective the design of control laws in which agents have an incomplete knowledge of the global design variable. We explain how objective localization allows us to address privacy and modularity issues in decentralized systems. Our goal is to develop a systematic approach to establish lower bounds on the amount of information about the global design variable agents need in order to cooperate successfully. To this end, we study a simple four agents formation and show that exponential stabilization is possible with a decentralized execution and non-localized objective but impossible with a decentralized execution and localized objective.",
author = "Belabbas, {M. A.}",
year = "2013",
doi = "10.1109/acc.2013.6580017",
language = "English (US)",
isbn = "9781479901777",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1308--1313",
booktitle = "2013 American Control Conference, ACC 2013",
address = "United States",
note = "2013 1st American Control Conference, ACC 2013 ; Conference date: 17-06-2013 Through 19-06-2013",
}